Pneumatic Gripper Prototype Development

I want to turn a concept for a pneumatic actuator into a working prototype that can grip or clamp objects with repeatable, controllable force. The job spans mechanical design, pneumatic circuit sizing,... (Budget: $30 - $250 AUD, Jobs: Arduino, CAD / SolidWorks, Electronics, Embedded Systems, Mechanical Engineering, PCB Layout, Product Design, Robotics)