A disadvantage of the current version of the gripper design system is that its operation could be slow when the number of components is large. This is because of the repetitive checking for redundancies after the generation of each new gripper. In future versions, it might be more expeditious to wait until the end of the gripper generation process before carrying out all checks at once. Also as gripping involves surface contact, it might be more appropriate to consider the surfaces of the components than their volumetric properties.