A gripper assembly for clamping an article has a first clamp member mounted on a first shaft defining an axis and a second clamp member. An actuator for pivoting the first clamp member relative to the second clamp member around the first axis from an open position to a closed position in which the gripper is able to clamp an article is provided. The actuator has a follower link which is rotatably mounted on a second shaft defining a second axis different to that first axis. The actuator is coupled to the first clamp member by at least one guided compression spring.