A modular system for vacuum end effectors (VEE) permits fast and flexible gripper configurations for pick and place processes. Configurations can be as small as a single suction pad or a 38-mm by 38-mm gripper weighing 60 gm or as large as 12 suction pads at variable distances or a maximum gripper size of 300 by 200 mm at a weight of 800 gm. The VEE moves up to 5 lb at accelerations up to 100 m/s2. All VEE elements are made of FDA-compliant polysulfone and resist alkaline, acidic, and steam cleaning agents. CAD models for all elements are available.