commonly used robotic grippers that serve as end effectors in robotics:
1. Two-Finger (Parallel) Grippers
Description: Uses two fingers or paddles that move parallel to each other to grip an
object.
Use Cases: Ideal for pick-and-place tasks, often used in industrial applications for
handling parts of consistent shapes.
Examples: Robotiq 2F-85, SCHUNK PGN-plus.
Examples: Used in electronics manufacturing to pick up circuit boards or parts,
automotive assembly for small components
2. Three-Finger Grippers
Description: Equipped with three fingers that provide a stable grip, especially on round
or cylindrical objects.
Use Cases: Often used in assembly operations and tasks requiring more stability than
two-finger grippers.
Examples: SCHUNK WSG, Robotiq 3-Finger Gripper.
Examples: Used to handle round objects like bottles in packaging, metal rods in CNC
machining, or delicate items in precision tasks.
3. Vacuum Grippers
Description: Uses suction to grip and hold objects. Suction cups are connected to a
vacuum pump that creates a strong seal.
Use Cases: Common in packaging, palletizing, and glass or sheet metal handling where a
clean, flat surface is available.
Examples: Piab Vacuum Grippers, Schmalz Vacuum Grippers.
Examples: Common in packaging to pick up boxes or bags, logistics for handling
packages on conveyors, and automotive assembly for lifting glass panes.
4. Magnetic Grippers
Description: Utilizes magnets to pick up ferromagnetic materials like steel.
Use Cases: Typically used in handling metallic objects, particularly in the automotive
and metalworking industries.
Examples: SMC Magnetic Grippers, Schmalz Magnetic Grippers.
Examples: Metal fabrication plants to pick up and move steel sheets, welding
applications, and steel pipe handling in construction.
5. Soft Grippers
Description: Made from flexible, soft materials that conform to the shape of the object,
using air or hydraulic pressure to grip.
Use Cases: Suitable for handling delicate items, such as fruits, vegetables, or fragile
parts, common in food and pharmaceutical industries.
Examples: Soft Robotics grippers, FESTO Fin-Ray grippers.
Examples: Used for food processing to pick up fruits, vegetables, or baked goods, and e-
commerce packaging for fragile or irregularly shaped products.
6. Needle Grippers
Description: Uses small needles to penetrate and hold soft or porous materials by
anchoring into them.
Use Cases: Works well for handling materials like fabric, foam, and similar materials
with uneven surfaces.
Examples: SMC Needle Grippers, ATI Industrial Automation Needle Grippers.
Examples: Textile industry for gripping and moving fabric, automotive interiors for
handling foam padding, and clothing manufacturing.
7. Adaptive Grippers
Description: Designed to adapt to various shapes and sizes, with fingers or jaws that
adjust based on the object’s contours.
Use Cases: Useful for handling a variety of differently shaped objects without changing
grippers, common in general assembly lines.
Examples: Robotiq Adaptive Grippers, OnRobot RG6.
8. Hydraulic Grippers
Description: Powered by hydraulic actuators to produce a strong gripping force, suitable
for heavy-duty applications.
Use Cases: Frequently used in industries requiring high grip strength, such as heavy
manufacturing or construction.
Examples: Bimba hydraulic grippers, Parker grippers.
Examples: Used in construction for handling large rocks or logs, automotive assembly
for large car parts, and scrap yards to handle scrap metal.
9. Pneumatic Grippers
Description: Uses compressed air to drive the gripping action, providing reliable and fast
gripping.
Use Cases: Common in fast-paced manufacturing and assembly environments.
Examples: SMC Pneumatic Grippers, SCHUNK MPG-plus.
Examples: Common in manufacturing assembly lines for rapid pick-and-place
operations, automotive production lines, and packaging tasks.
10. Electric Grippers
Description: Operated by electric motors, allowing precise control over grip force and
position.
Use Cases: Suitable for applications that require variable grip strength and programmable
control, such as electronics assembly.
Examples: Robotiq Hand-E Gripper, Zimmer Group Electric Grippers.
11. Bellows Grippers
Description: Uses inflatable bellows that expand to grip an object from the inside or
around its contour.
Use Cases: Often used in applications where a gentle grip is necessary, such as handling
fragile glassware.
Examples: AirGrip Bellows Gripper, FIPA Bellows Grippers.
12. Mechanical Claw Grippers
Description: Utilizes claw-like mechanisms, often with multiple “fingers” or prongs to
hold objects firmly.
Use Cases: Commonly seen in waste management, recycling, and construction for
picking large, heavy objects.
Examples: Ewellix Claw Grippers, customized claw grippers for specific heavy-duty
applications.
13. Electroadhesive Grippers
Description: Uses electrostatic forces to adhere to objects, particularly suitable for flat or
lightweight materials.
Use Cases: Often used in applications involving thin, lightweight materials such as
sheets, foils, or fabrics.
Examples: Grabit Electroadhesive Grippers, NASA JPL's electroadhesion grippers.
14. Bio-Inspired Grippers
Description: Designed to mimic natural gripping mechanisms, such as gecko-inspired
adhesive pads for climbing or octopus-like tentacles.
Use Cases: Suitable for applications requiring adaptable grips on various surfaces, often
in research or innovative robotics fields.
Examples: Gecko Gripper by OnRobot, FESTO Octopus Gripper.
Each type of gripper is designed with specific applications in mind, from industrial automation to
delicate handling, making it crucial to select the right gripper based on the task’s requirements.
For a pick-and-drop task involving a 1 kg block, the choice of gripper will depend on factors
like the shape, material, surface, and precision required. Here are some of the best options based
on common scenarios:
1. Two-Finger (Parallel) Gripper
Why Suitable: Two-finger grippers can easily handle weights around 1 kg with adequate
grip force and stability. These grippers are great for rectangular or block-shaped objects.
Advantages: Simple, cost-effective, and provides a firm grip, especially if the block has
a flat surface or edges.
Considerations: Ensure that the gripper's holding force can support 1 kg securely.
2. Three-Finger Gripper
Why Suitable: A three-finger gripper adds stability and is beneficial if the block has any
cylindrical or round shapes, though it can still work with rectangular shapes.
Advantages: Increased grip stability, especially if the block shape or weight distribution
might shift.
Considerations: Often more complex and possibly more expensive than two-finger
grippers, but offers enhanced versatility.
3. Vacuum Gripper
Why Suitable: If the 1 kg block has a flat, non-porous surface, a vacuum gripper can
quickly pick it up and release it, ideal for rapid pick-and-drop applications.
Advantages: Clean, fast gripping with no contact from multiple sides.
Considerations: Vacuum grippers require a good seal; they may struggle with uneven
surfaces or rough textures.
4. Electric Gripper
Why Suitable: Electric grippers allow precise control over gripping force and
positioning, making them adaptable for various shapes and weights up to 1 kg.
Advantages: Easy to program, adjustable grip force, and can be used in more delicate
applications if necessary.
Considerations: Slightly more complex but very versatile.
5. Pneumatic Gripper
Why Suitable: Pneumatic grippers provide reliable, consistent gripping force, ideal for
industrial applications that require repeated pick-and-drop of similarly sized blocks.
Advantages: Reliable grip and fast action.
Considerations: Requires an air compressor setup, which may add complexity to the
system.
Best Recommendation:
If the block has a flat, solid shape and you need reliable and repeatable operations (like in an
industrial setting), a Two-Finger (Parallel) Gripper or a Pneumatic Gripper would likely be
the most straightforward and effective option. However, if precision control is needed, an
Electric Gripper could also work well
