Help with advice: choosing mechanics for manipulator grip

Hello colleagues. I want to make an electric gripper for a manipulator. The claws must move in parallel, it must be possible to either clamp them slowly or quickly. I’m thinking of doing this on a powerful brushless servo (the gear on which will move the claws). Also, to ensure that items taken by the robot do not fall out when the power is lost, I will install a powerful spring.
Can anyone suggest options for how the mechanics work? Maybe you saw it somewhere on a website or know? I want to become a specialist in this topic.

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Hi @vitaliy and welcome back to our forum!

I’ve seen some of these, but smaller grippers using standard hobby servos.

Here are some examples:

I think you could copy some of these designs, just add the spring as you want and BLDC motor.