In this thesis, a six degrees-of-freedom reconfigurable gripper is designed and built for implementation of flexible fixtureless assembly. Flexible fixtureless assembly is a novel technique in which traditional fixtures used in automotive assembly industries are eliminated by the use of multi-finger grippers. The gripper developed in this thesis is capable of precisely picking up parts of different geometries, rigidly holding the parts in space, and choosing different grasping points while allowing sufficient clearance for welding gun. The overall design procedure includes the conceptual, configuration and parametric design stage. A three-finger gripper is developed, each of which has two movable joints and two frictionless point-contacts with the grasped part. Finite element analysis is carried out to simulate deflections of the components under load. Finally, the workspace and the kinematic model of the reconfigurable gripper have been computed. The reconfigurable gripper is proved to achieve the objectives of this thesis.