Gripper tools for object grasping and manipulation

A harvesting tool, comprising:

• a pneumatic cylinder;
• a barrel attached to a distal end of the pneumatic cylinder;
• a plurality of finger elements radially attached to the barrel, the plurality of finger elements constructed and arranged to envelop a target object;
• a collar encompassing the plurality of finger elements, the collar movable along a length of the plurality of finger elements;
• an extendable rod housed within the pneumatic cylinder at a first end and connected to the collar at a second end, the extendable rod configured to facilitate motion of the collar along the length of the plurality of finger elements whereby, in operation, the extendable rod cooperates with the collar such that actuation of the extendable rod in an outward direction relative to the barrel forces the plurality of finger elements together to grasp the target object;
• a pneumatic coupling communicating with the pneumatic cylinder;
• bearings supporting the pneumatic cylinder for rotation relative to the pneumatic coupling;
• and
• a gear assembly configured to rotate the pneumatic cylinder relative to the pneumatic coupling.