Abstract: An apparatus, system and method for providing an o-ring gripper. The embodiments may include an end effector, comprising: a housing; a movable stripping bar mechanically associated with the housing; a plurality of modules at least partially within the housing; and at least two interleaved angular jaws, wherein each of the at least two jaws provides at least two of the at least four fingers, and wherein an increase in angle between the at least two jaws effects an expansion of an area bounded by each of the at least four fingers; wherein a movement of the stripper bar distally from the housing strips the o-ring from the retention groove for placement.