This thesis is a part of a process of improving the scope of Currence Robotics' picking robot. The robot is an autonomous machine, designed for picking and stacking goods. Their problem statement concerns bottle gripping, which they would like to solve by creating a mechanical gripper, and developing a software for its motion, with both manual and autonomous control. The approach for the gripper was to study various bottle characteristics, create a design draft, develop two 3D models of the design; one for proof of concept testing and one final version, and assemble and test the prototypes. Regarding the motion control, the approach was to develop a software that could easily be integrated with the robot's program, and create platforms for manual and autonomous operations.