Abstract: The invention relates to a gripping or clamping device for gripping or clamping objects, comprising at least one actuator that can be driven by a drive, at least one jaw, and a transmission provided between the actuator and the jaw, wherein the force produced by the drive is transmitted to the object at least by means of a force transmission element provided on or formed by the transmission and/or the clamping means, wherein the force transmission element has a force conducting section, wherein a clamping element that permits an elastic flexibility in the force transmission direction is provided between the force conducting section and the force transmission element.