A gripping tool which can be used by a manipulator device for picking up and handling pieces, said tool comprising: - a supporting frame, provided with an attachment element for connection to the manipulator device, - a plurality of gripping devices, carried by the supporting frame so as to be adjustable in position with respect to the supporting frame, and - at least one sensor associated with the gripping devices, to detect the presence of a piece engaged by the gripping devices, wherein: - the gripping devices are distributed in groups, each group being constituted by one or more gripping devices, - the gripping devices of each group of gripping devices are mounted on a same supporting body made in one-piece by an additive manufacturing technology, - said supporting body of each group of gripping devices is mounted on said supporting frame so as to be adjustable in position with respect to the supporting frame along three mutually orthogonal axes (x, y, z), - said supporting body of each group of gripping devices made in one-piece by an additive manufacturing technology is shaped so as to define locating surfaces (25, 27, 31, 32, 33, 34), which are to come in contact with a piece to be gripped, the configuration of said locating surfaces (25, 27, 31, 32, 33, 34) being adapted to the configuration of the piece to be gripped, so as to constitute a reference for proper positioning of the piece to be gripped along said three mutually orthogonal axes (x, y, z) with respect to said supporting body, said gripping tool being characterized in that the supporting body of each group of gripping devices incorporates connection portions in a one-piece construction, said connection portions having cavities within which supporting rods are secured, and in that said supporting rods are carried by the supporting frame so as to be adjustable in position. - a supporting frame, provided with an attachment element for connection to the manipulator device, - a plurality of gripping devices, carried by the supporting frame so as to be adjustable in position with respect to the supporting frame, and - at least one sensor associated with the gripping devices, to detect the presence of a piece engaged by the gripping devices, - the gripping devices are distributed in groups, each group being constituted by one or more gripping devices, - the gripping devices of each group of gripping devices are mounted on a same supporting body made in one-piece by an additive manufacturing technology, - said supporting body of each group of gripping devices is mounted on said supporting frame so as to be adjustable in position with respect to the supporting frame along three mutually orthogonal axes (x, y, z), - said supporting body of each group of gripping devices made in one-piece by an additive manufacturing technology is shaped so as to define locating surfaces (25, 27, 31, 32, 33, 34), which are to come in contact with a piece to be gripped, the configuration of said locating surfaces (25, 27, 31, 32, 33, 34) being adapted to the configuration of the piece to be gripped, so as to constitute a reference for proper positioning of the piece to be gripped along said three mutually orthogonal axes (x, y, z) with respect to said supporting body,