The purpose of this semester project is to move in 3D space the gripper to grab an object, move it and release it. To do so a cartesian 3D printer will be used to move the gripper. Some modifications needs to be done in order to install the gripper at the same place as the nozzle. The extruder is removed and replaced by a case that can support the gripper. It should be able to hold the gripper while in use and if the limit switch is present, hold it so that it can correctly operate. The limit switch is a device put on top of the gripper to power one SMA at a time. It also has a button to allow the current to pass though the SMA. The gripper shall be connected to the voltage source of the printer, which can be controlled via the firmware and some GCODE commands.