multi finger gripper analysis

hello.. i am currently working on a 3 finger gripper...i have prepared a 3D cad model but I am new to MATLAB so I was asked to work on symbolic toolbox..so i am working...but can someone please help me in forward and inverse kinematics of it...i have DH parameters and range of each link rotation and length ...

syms theta1 theta2 theta3 l1 l2 l3 z0 z1 z2 z3 o0 o1 o2 o3 p1 p2 p3 j1 j2 j3

d1=0; d2=0; d3=0;

alpha1=0; alpha2=0; alpha3=0;

l1=57.12; l2=38.12; l3=22.12;

T10=[cos(theta1),-sin(theta1)*cos(alpha1),sin(theta1)*sin(alpha1),l1*cos(theta1);sin(theta1),cos(theta1)*cos(alpha1),-cos(theta1)*sin(alpha1),l1*sin(theta1);0,sin(alpha1),cos(alpha1),d1;0,0,0,1]; T21=[cos(theta2),-sin(theta2)*cos(alpha2),sin(theta2)*sin(alpha2),l2*cos(theta2);sin(theta2),cos(theta2)*cos(alpha2),-cos(theta2)*sin(alpha2),l2*sin(theta2);0,sin(alpha2),cos(alpha2),d2;0,0,0,1]; T32=[cos(theta3),-sin(theta3)*cos(alpha3),sin(theta3)*sin(alpha3),l3*cos(theta3);sin(theta3),cos(theta3)*cos(alpha3),-cos(theta3)*sin(alpha3),l3*sin(theta3);0,sin(alpha3),cos(alpha3),d3;0,0,0,1];

T30=T10*T21*T32;

T30Final=simplify(expand(T30));

% inv(T30Final)

T20=T10*T21;

R30=T30(1:3,1:3); R20=T20(1:3,1:3); R10=T10(1:3,1:3);

z0=[0;0;1]; z1=R10*z0; z2=R20*z0;

o0 = [0;0;0;1]; o1=T10*[0;0;0;1]; o2=T20*[0;0;0;1]; o3=T30*[0;0;0;1];

syms x1 x2 x3 y1 y2 y3 w1 w2 w3

p1=T10*[u1;v1;w1;1]; p2=T20*[u2;v2;w2;1]; p3=T30*[u3;v3;w3;1];

j1=[cross(z0,(p1(1:3)-o0(1:3)));z0]; j2=[cross(z0,(p1(1:3)-o0(1:3))),cross(z1,(p2(1:3)-o1(1:3)));z0,z1]; j3=[cross(z0,(p3(1:3)-o0(1:3))),cross(z1,(p3(1:3)-o1(1:3)));z0,z1];

det(j3)=simplify(expand(det(j3)));

till here i have worked.. please tell me wat to do next..after jacobian, singularity and inverse kinematics..