The Pali term often translated as "grasping" or "clinging" is upādāna.
Here is Venerable Nyanatiloka's summary: http://what-buddha-said.net/library/Bud ... 1d%C4%81na
Upādāna: 'clinging', according to Vis.M XVII, is an intensified degree of craving tanhā. The 4 kinds of clinging are: sense-clinging kāmupādāna, clinging to views ditthupādāna clinging to mere rules and ritual sīlabbatupādāna, clinging to the personality-belief atta-vādupādāna.
1;What now is the sense-clinging? Whatever with regard to sense-objects there exists of sense-lust, sense-desire, sense-attachment, sense-passion, sense-confusedness, sense-mental chains: this is called sense-clinging.
2 ''What is the clinging to views? 'Food and offerings are useless; there is no fruit and result for good and bad deeds: all such view and wrong conceptions are called the clinging to views.
3;What is the clinging to mere rules and ritual? The holding firmly to the view that through mere rules and ritual one may reach purification: this is called the clinging to mere rules and ritual.
4;What is the clinging to the personality-belief? The 20 kinds of ego-views with regard to the groups of existence see: sakkāya-ditthi these are called the clinging to the personality-belief; Dhs. 1214-17.
This traditional fourfold division of clinging is not quite satisfactory. Besides kamupādāna we should expect either rūpupādāna and arūpupādāna or simply bhavupādāna Though the Anāgāmī is entirely free from the traditional 4 kinds of upādāna he is not freed from rebirth, as he still possesses bhavupādāna The Com. to Vis.M XVII, in trying to get out of this dilemma, explains kāmupādāna as including here all the remaining kinds of clinging.
Clinging' is the common rendering for u., though 'grasping' would come closer to the literal meaning of it, which is 'uptake'; see: Three Cardinal Discourses WHEEL 17, p.19.
upādāna-khandha: the 5 'groups of clinging', or more clearly stated in accordance with Vis.M, 'the 5 groups of existence which form the objects of clinging'. Cf. M. 44, and see khandha
Upādā-rūpa: 'derived materiality', signifies the 24 secondary material phenomena dependent on the 4 primary physical elements, i.e. the sense-organs and sense-objects, etc. See khandha I; App.
Also see the 9th chain of Dependent Origination: clinging is conditioned by craving (tanhā): http://what-buddha-said.net/library/Bud ... pp%C4%81da
8. tanhā-paccayā upādānam Through craving is conditioned clinging
9. upādāna-paccayā bhavo Through clinging is conditioned the process of becoming,; consisting in the active and the passive life process, i.e. the rebirth-producing kamma-making kamma-bhava and, as its result, the rebirth-process upapatti-bhava.
10. Bhava-paccayā jāti Through the rebirth-producing kamma-process of becoming is conditioned rebirth.