The current thesis is carried out in collaboration with Comau S.p.A, the main focus of the work is to propose a model of a vacuum gripping device, characterized by modularity and flexibility. The gripper has to be used in the depalletizing process of several lines, each line is characterized by a different pallet layout, different sizes of the boxes, and different masses. The first phase of literature research provides a generic view of pneumatic gripping devices, their classification, and shows some of the proposed solutions regarding similar problems, where the design of a vacuum end effector is needed. After the review of the proposed solution, it is chosen to develop a flexible gripper, able to to adapt itself to the different boxes of the lines, and composed mainly of elements available on the market.