The following work presents the methodology used in order for develop a low cost Virtual Based Anthropomorphic Gripper application, for Automation Grasping Tasks of common object geometries in a robotics work-cell environment containing a six degrees of freedom Industrial Robot and an Anthropomorphic hand based device attached to it. In order to comply the low cost development requirement, a set of parameters are defined so the programming and editing of the virtual environment fulfills the specifications. Subsequently, the study of the human and mechanical hands kinematics allows the creation of virtual objects resembling their behavior and appearance. By studying human grasp postures it can be seen that each finger has a position from which a grasping table can be created, this information also works for an anthropomorphic gripper as they share similar anatomy. Based on these similarities, three basic shapes are chosen to test the application, a spherical, cylindrical and planar, which are available on the graphic user interface, so it can be executed on the defined virtual device. For testing purposes, a real anthropomorphic device is virtualized and from the virtual grasps performed, an information file is created for its execution on the workcell The developed application allows the virtualization of a six to nineteen degrees of freedom anthropomorphic hand, either using commercial or open source 3D modeling software, initial applications are on offline grasp task planning. The program execution is operating system independent, which makes it portable as well of the creation and edition of 3D geometries. 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