The gripper decides, not the unit
Two approaches hold up in service with a soft sack. A clamp gripper takes the sack across its full width between two jaws and compresses it slightly – the contents can shift without the grip easing. A needle gripper pierces the fabric with fine needles and carries on them; it is faster but leaves puncture marks and is ruled out wherever the sack has to stay sealed. For paper valve sacks the clamp gripper is the safe choice, for woven PP sacks both are common. That decision comes before choosing the unit, not after.