Abstract: A compact low-cost drive for a robotic gripper system is disclosed having a rotationally driven shaft connected to an energy source for transmitting energy provided by the energy source to the gripper. An epicyclic gear arrangement is coupled to the shaft to convert the rotational motion of the shaft into a linear motion. At least one of the pins connected to the gears is linearly translateable in two directions under the control of the energy source. Fingers are recessed in the pins to facilitate gripping and releasing objects to be handled by the gripper system. A feedback means coupled between the energy source and the fingers can also be used to sense and control the position of the fingers.