Part
End effector
You might say: gripper, hand, tool, claw
An end effector is the tool at the end of the arm that contacts the world, such as a gripper, suction tool or process tool.
- What it does
- It makes the task-specific contact; the arm places and orients it.
- Ask
- Can the tool contact and hold the task objects without slip or damage?
What to look for
- Tool at the end of the arm
- Gripper, suction tool or process tool
- Contact with the world
Parts
- Grip force: Grip force is the normal force a contact applies to the object.
- Grasp quality: Grasp quality measures how well contacts resist external forces and torques.
Catalogue: Gripper
- Parallel-jaw: Two opposing jaws close on an object. Parallel jaws are predictable and easy to model.
- Suction cup: A vacuum cup holds a sealed surface by pressure difference; the OnRobot VG10 uses configurable cups and two independent vacuum channels. Holding a sealed surface by pressure difference defines it; OnRobot VG10 is one example.
- Multi-fingered hand: A multi-fingered hand uses several jointed fingers to make more contacts and manipulate objects dexterously.
- Soft gripper: A soft gripper uses compliant fingers or silicone tools to conform to irregular or delicate objects.
Sources
- Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, Chs. 4 and 12
A robot arm is typically equipped with a hand or gripper, more generally called an end-effector, which interacts with objects in the surrounding world.
Use it on your project
teardown-apply: hold "End effector" (end-effector) from the teardown at https://teardownatlas.com/robotics/ against my project
Paste it into a coding agent that has the teardown skills.
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