Glossary · Robotics
End effector
Also known as: End-of-arm tooling (EOAT), Robot tool
German: Endeffektor
In ISO 8373, an end effector is a device specifically designed to be attached to the mechanical interface of a robot to enable it to perform its task. Grippers, welding torches, screwdrivers, spray guns and suction cups are end effectors.
- Robotics
- Standards
In one sentence
An end effector is the device on the robot flange that performs the task, such as a gripper, welding torch or vacuum cup.
Example
The end effector combines a vacuum gripper for cartons with a separate clamp for slip sheets, both mounted on one tool changer plate.
How it applies
- Engineering: The end effector sets many application parameters: its mass and center of gravity count toward the Payload, its geometry defines the Tool center point (TCP), and its edges and clamping forces matter for the risk assessment. Loss of grip on power failure is a typical hazard to address.
- Commissioning: Tool data (mass, center of gravity, TCP) is entered in the robot controller and verified; wrong data affects path accuracy and collision detection.
- Documentation: End effectors are often built by the integrator, so their documentation must be written separately and integrated into the cell manual. The documentation team should cover energy supply, behavior on loss of air or power, adjustment, wear parts and the Ejection hazard of dropped parts.
End effector vs. gripper
Every Gripper is an end effector, but not every end effector grips. Process tools such as welding guns or dispensers are end effectors too.