The field of robotic manipulation has seen ever-growing interest in recent years, with the aim of increasing process efficiency and safety for human operators. The main challenge lies in grasping objects with variable mechanical characteristics such as dimensions and geometries. In fact, the gripping solutions currently available tend to be highly task-specific, with limited adaptability to different operational scenarios. To bridge this gap, the present study proposes a four-finger gripper with a reconfigurable architecture to ensure versatility. The device has been validated through the use of a virtual prototype, demonstrating the ability to grasp objects with different shapes and masses, as well as multiple objects, thanks to five different grip configurations and the presence of soft elements. The fingertip design includes the possibility of integrating sensors, with the goal of enabling advanced sensing and feedback functions during the manipulation phase. This aspect opens the door to the implementation of adaptive control strategies and to improved operational safety in dynamic environments. The potential applications range from automated logistics to industrial assembly, from collaborative robotics to service robotics, including sectors where it is essential to manipulate heterogeneous objects in a precise and non-destructive manner. In particular, the ability to handle delicate or sensitive components has made the device suitable for applications in highly specialized fields such as agri-food and pharmaceuticals.