gripper

A gripper is a device at the end of a robotic arm or a standalone automation unit that grasps, holds, and manipulates objects. As an end effector, a gripper converts actuated motion into controlled gripping force to enable operations such as pick-and-place, assembly, packaging, and material handling across manufacturing, logistics, and laboratory environments.

Grippers are categorized by actuation method and gripping principle. Actuation types include mechanical (jaws opened and closed by linkages or pinions), pneumatic and hydraulic (finger or suction mechanisms driven by compressed air or fluid pressure), and electric (servo or stepper motors providing precise finger movement). Gripping principles include parallel-jaw grippers, angular or three-/four-finger grippers for irregular shapes, suction-based grippers that use vacuum to lift non-porous objects, magnetic grippers for ferromagnetic parts, and adhesive grippers for specialty uses. Soft grippers, made from compliant elastomeric materials, are designed to conform to delicate objects and reduce damage.

Design considerations include payload capacity, opening width and stroke, repeatability and accuracy, cycle time, environmental conditions, and compatibility with sensors such as force, tactile, or position sensing. Many grippers incorporate compliant features or soft padding to improve safety around fragile items. End-effector interfaces commonly follow standardized mounting and connection schemes to allow interchangeability of grippers across robotic platforms, such as ISO end-effector interfaces.

Control and sensing involve feedback from sensors to regulate grip force and position. Closed-loop control, often using PID or impedance control, coordinates gripper actuation with the robot controller. Safety features include collision detection, soft stops, and compliant actuation to prevent damage to objects or machinery.