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This paper presents the optimization of gripping points of an end effector of three fingers, and this is done by ensuring that the force exerted on the object is minimum. It begins with the design of the gripper has two degrees of freedom (DOF) for each finger. Is performed a brief mathematical description of the kinematics involved in the gripper and with this is determined the work area. With the workspace is determines the points with contact with the object geometry are obtained and these are gripping the possible points of the object. To select which of these points is the best to grab the object, we proceed to evaluate the force exerted on the object by means of the mathematic denominated of Screw. This force should be minimal, avoiding sliding and in turn damage the object. As the contact points are numerous and the evaluating would take quite some time in an algorithm combinational by this reason the …