Robotic grippers are an essential link in automated manufacturing processes, posing the interface between the robot manipulator and parts, fixtures, other robots and/or human operators. Considering the shift towards more product versatility through customisation, the increasing demand for handling non-rigid products (e.g. food and textile), and its deployment in dynamic environments (e.g. human-robot collaboration), the expected functionalities of robotic grippers are evolving rapidly. Gripper manufacturers provide an answer by an innumerable amount of grippers on the market covering various grasping principles. In industry, grippers are mainly selected and designed based on expert knowledge, due to its intuitive, ad hoc, and time-consuming nature. However, this approach is susceptible to additional costs entailed by partly appropriate grasping solutions or overdimensioning. The development of an automated selection and design tool is needed that assists inexperienced persons in an user-friendly manner. This is obtained by limiting the several selection criteria, standardising the grasping principles, and increasing accessibility through a web-based application. In addition, this work offers a review of the state of the art in academic and commercial selection tools developed in the past decades. To demonstrate the functionality and the selection criteria of the developed selection methodology, two use cases are elaborated concerning gripper selection based on gripper and use case criteria, respectively. First, apples should be grasped food-safely in cooperation with human operators. Second, steel transmission shafts and gears have to be handled in an industrial setting. Finally, for future research tracks regarding computer-aided gripper design (CAGD) is pointed towards its integration into the open source 3D parametric modelling software: FreeCAD. This could spark more research collaboration and even commercialisation, instead of the current stand-alone implementations.