Through appropriate sketching, determine the types of grippers or tools, which is most suitable for the following tasks: i. Transfer of a fragile oval-shaped vase. ii. Transfer of a car chassis made from aluminum material. iii. Transfer of a carton/box of chicken eggs. iv. Transfer of a cylindrical butane gas tank. Discuss and justify the factors to be considered during the selection of the end-effectors. Provide a sketch of the design and make necessary assumptions.