Abstract— This study about adaptive gripper controlled with micro servo linear allows a correct fastening of objects of several forms and sizes, this facilitates at the time of picking up pieces, because the hooks are deformed according to the form of pieces that were picked. The gripper has developed for multiple applications of fastening of variable objects, driven by a linear micro actuator that provides a continuous micro-movement that allows controlling the grip, three hooks synthesize prototypes that includes force sensors not to cause damage in the selected object, due to the opening, closing and force by the linear actuator micro. Through a test of adaptability, a set of robotic hooks is developed, connected to a base and pushed by the liner micro actuator to show the effectiveness of the design with irregular objects or variants.