End Effector (End-of-Arm Tooling)

An end effector, or end-of-arm tooling (EOAT), is the device mounted at a robot's wrist that interacts with the work, such as a gripper, vacuum cup, welding torch, spray gun, screwdriver or sensor.

The robot positions the end effector, and the end effector performs the task. It mounts on the robot flange, whose mechanical interface is standardised in ISO 9409-1, often through adapter plates, quick changers or compliance devices. Utilities such as compressed air, vacuum, power, signals and welding wire are routed along the arm or through a hollow wrist.

Grippers dominate handling and assembly, while process tools cover arc and spot welding, painting, dispensing, cutting, deburring, screwdriving and inspection. Automatic tool changers allow one robot to use several tools in a cycle. End effectors are frequently custom-designed for the part and process and often determine a cell's reliability.

Design must respect the robot's payload rating, including the tool's mass, centre of gravity and inertia, which must also be entered correctly in the controller. Sharp edges, pinch points and loads dropped on loss of power are key hazards considered in the risk assessment, especially in collaborative applications.

Key points

The tool at the robot wrist that performs the actual task
Robot flange interfaces are standardised in ISO 9409-1
Tool mass, centre of gravity and inertia count against the payload
Tool design is central to the safety of collaborative applications

Where AiVibe comes in

AiVibe designs and manufactures the AiAmbA AI Factory, whose edge devices and AI agents let people talk to robot controllers in plain language. Robotics perception is an AiAmbA use case, and robot safety functions follow ISO 10218 and never depend on the AI layer.

Explore AiVibe’s work in Robotics & Physical AI →

End Effector (End-of-Arm Tooling)

Key points

Where AiVibe comes in

Related terms

Terms that refer to End Effector (End-of-Arm Tooling)