Parallel finger grippers are one of the most versatile and common grippers used in the robotics industry. This type of grippers usually consists of two opposing fingers that are capable of moving parallel to each other. To be able to integrate on the robot, the size of the gripper must be compact and the gripping force must be enough to hold the workpiece. The small three finger parallel gripper is a type of clamping solution where the driving link is performed by a pneumatic cylinder. Currently, the three-finger parallel gripper uses a parallel opening and closing mechanism that guides the clamping jaws by a cam mechanism fixed to the piston head of the pneumatic cylinder. The newly designed three-finger parallel gripper is based on the working principle of three-finger parallel grippers with the goal of simple structure and compact size. This research has established kinematic schemes, analyzed the forces acting on links and joints, and built a 3D-CAD model to simulate the dynamics of the new parallel gripper with three fingers.