{"id":47,"date":"2024-08-16T16:36:19","date_gmt":"2024-08-16T16:36:19","guid":{"rendered":"https:\/\/libraryresources.nse.org.ng\/robotics\/chapter\/chapter-5\/"},"modified":"2026-03-16T14:22:58","modified_gmt":"2026-03-16T14:22:58","slug":"chapter-5","status":"publish","type":"chapter","link":"https:\/\/libraryresources.nse.org.ng\/robotics\/chapter\/chapter-5\/","title":{"raw":"End of Arm Tool Design","rendered":"End of Arm Tool Design"},"content":{"raw":"<h1>1) \"The Claw\" Introduction<\/h1>\nA robot cannot pick up objects or perform operations on its own - it needs a claw suitable for the operation.\u00a0 This \"claw,\" as it is called colloquially, is known as an \"end-of-arm tool\" (EOAT) or just \"tool\" in industry, and an \"end effector\" (EE) in academia.\u00a0 These are used to:\n<ul>\n \t<li>pick and place objects<\/li>\n \t<li>draw, weld, glue, or cut,<\/li>\n \t<li>insert or poke things<\/li>\n \t<li>other applications<\/li>\n<\/ul>\nA typical EOAT consists of:\n<ol>\n \t<li>a <em>flange<\/em> that mounts to the robot's wrist,<\/li>\n \t<li>an <em>angled bloc<\/em>k to avoid singularities when aligning the tool tip with the approach vector,<\/li>\n \t<li>a <em>standoff<\/em> that offsets the tool tip from the robot's wrist to allow reaching into tight spaces, and<\/li>\n \t<li>an <em>endpiece<\/em> that enables interaction between the tool and the workpiece or part to pick.<\/li>\n<\/ol>\nDifferent EOATs are used for different applications, but the most common ones for pick-and-place operations are:\n<ul>\n \t<li>magnet tools<\/li>\n \t<li>suction tools<\/li>\n \t<li>gripper tools<\/li>\n<\/ul>\nThe following video explains end-of-arm tools in more detail.\n\nVideo: <a href=\"https:\/\/youtu.be\/3IUAq_UnyH8\" rel=\"noopener\">Robotic End-of-Arm Tools<\/a>\n\n[embed]https:\/\/youtu.be\/3IUAq_UnyH8[\/embed]\n<h2>Quick Quiz<\/h2>\nThe original version of this chapter contained H5P content. You may want to remove or replace this element.\n<h1>2) Magnet Tools<\/h1>\nA magnetic EOAT is used to pick smooth, ferrous objects.\u00a0 This EOAT has a magnetic endpiece, so this must be designed with enough surface area contacting the part - easy if the part has a flat surface, not so easy if the surface is curved or oddly shaped.\u00a0 This video by HVR Magnetics Co. shows a large gantry robot lifting steel sheets with magnets:\n\nVideo: <a href=\"https:\/\/www.youtube.com\/watch?v=Hms6IxlN8HQ\" target=\"_blank\" rel=\"noopener\">Loading Steel Sheet onto Cutting Table with Lift Magnets on Gantry Robot System<\/a>\n\n[embed]https:\/\/www.youtube.com\/watch?v=Hms6IxlN8HQ[\/embed]\n\nThis next video by CKD Corporation demonstrates a Yaskawa robot picking and placing ferromagnetic billets using different magnetic EOATs.\n\nVideo: <a href=\"https:\/\/www.youtube.com\/watch?v=bL3iogAYO0A\" rel=\"noopener\">Pick &amp; place with Yaskawa robot using CKD magnetic attraction hand &amp; free position pad unit<\/a>\n\n[embed]https:\/\/www.youtube.com\/watch?v=bL3iogAYO0A[\/embed]\n\nCommon magnetic EOAT suppliers are <a href=\"https:\/\/www.magnetics.com\/applications\/lifting\/automated-robotic-lifting\" rel=\"noopener\">Industrial Magnetics<\/a> and <a href=\"https:\/\/magswitch.com\/?srsltid=AfmBOorRnwNpF59jHDdSyPI5kUFSJeRijNu3z3X3OhHvGSZOBF31mS_W\" rel=\"noopener\">Magswitch<\/a>.\u00a0 The magnets are selected based on force, but the max force listed on the spec sheet is often not enough to lift a part of the same weight due to accelerations or contacting lines instead of planes (i.e. on curved surfaces).\u00a0 The following video shows how to calculate the required strength of a magnet for pick-and-place tasks.\n\nVideo: <a href=\"https:\/\/youtu.be\/eKxCF74KSJ4\" rel=\"noopener\">Magnet EOAT Example<\/a>\n\n[embed]https:\/\/youtu.be\/eKxCF74KSJ4[\/embed]\n<h2>Quick Quiz<\/h2>\nThe original version of this chapter contained H5P content. You may want to remove or replace this element.\n<h1>3) Suction Tools<\/h1>\nSuction cups are the most generic, widely applicable end-of-arm tools.\u00a0 They are used for anything with a smooth surface. <span style=\"text-align: initial; font-size: 1em;\">Suction cups are specially made for different surfaces, including plastic, wood, films, and glass.\u00a0 <\/span><a style=\"text-align: initial; font-size: 1em;\" href=\"https:\/\/www.piab.com\/en-us\/suction-cups-and-soft-grippers\" rel=\"noopener\">Piabb<\/a><span style=\"text-align: initial; font-size: 1em;\"> and <\/span><a style=\"text-align: initial; font-size: 1em;\" href=\"https:\/\/www.schmalz.com\/en\/vacuum-technology-for-automation\/vacuum-components\/vacuum-suction-cups\/\" rel=\"noopener\">Schmalz<\/a><span style=\"text-align: initial; font-size: 1em;\"> are common suction cup suppliers.\u00a0 The number of suction cups used depends on the size of the cups, weight distribution of the object, and smooth surface area for contact.\u00a0 For small objects, a single suction cup is often used, while for larger objects, an EOAT may consist of an array of cups or a vacuum pad.\u00a0 This video by Southie Autonomy shows a <a href=\"https:\/\/www.youtube.com\/watch?v=XnkBcjvVsIo\" rel=\"noopener\">beverage packing robot on a production line<\/a> using a vacuum pad to lift packs of drinks.<\/span>\n\n[embed]https:\/\/www.youtube.com\/watch?v=XnkBcjvVsIo[\/embed]\n\nThis video by Universal Logic of a <a href=\"https:\/\/www.youtube.com\/watch?v=pS9-lu3InLE\" rel=\"noopener\">Neocortex G2R cell<\/a> shows robots that use AI and computer vision combined with suction EOATs to perform order fulfillment, picking and placing a variety of smooth objects.\n\n[embed]https:\/\/www.youtube.com\/watch?v=pS9-lu3InLE[\/embed]\n\n<span style=\"text-align: initial; font-size: 1em;\">The following video shows how to calculate suction cup size and number for an EOAT based on part weight, acceleration, and available vacuum pressure.<\/span>\n\nVideo: <a href=\"https:\/\/youtu.be\/-k2peNweVhE\" rel=\"noopener\">Suction EOAT Example<\/a>\n\n[embed]https:\/\/youtu.be\/-k2peNweVhE[\/embed]\n<h2>Quick Quiz<\/h2>\nThe original version of this chapter contained H5P content. You may want to remove or replace this element.\n<h1>4) Gripper Tools<\/h1>\nGripper EOATs are often part-specific, so a certain gripper would be used for a certain part to pick.\u00a0 Grippers are more complicated to design and manufacture, but they also allow finer control.\u00a0 They are the best type of gripper for squishy or irregular objects, but they can be used for almost anything.\u00a0 Common robotic gripper manufacturers are <a href=\"https:\/\/schunk.com\/us\/en\/gripping-systems\/c\/PUB_8293?\" rel=\"noopener\">Schunk<\/a>, <a href=\"https:\/\/onrobot.com\/us\/products-and-solutions\" rel=\"noopener\">Onrobot<\/a>, and <a href=\"https:\/\/robotiq.com\/products\/adaptive-grippers\" rel=\"noopener\">Robotiq<\/a>.\u00a0 The following video by ceylon CAD shows close-up animations of various types of angular and parallel grippers, revealing how they work:\n\nVideo: <a href=\"https:\/\/www.youtube.com\/watch?v=s_UztFdAaTE\" rel=\"noopener\">Gripper Designs<\/a>\n\n[embed]https:\/\/www.youtube.com\/watch?v=s_UztFdAaTE[\/embed]\n\nRobotic grippers can be either pneumatically or electromechanically actuated.\u00a0 Pneumatic grippers are binary, either fully open, or fully shut, and are high-strength and simple to design and operate.\u00a0 Electromechanical grippers are more complex, allowing slower and finer motion control for lighter objects.\u00a0 The following video demonstrates an electromechanical Robotiq gripper with a Universal Robot for a machine tending operation.\n\nVideo: Machine Tending with <a href=\"https:\/\/www.youtube.com\/watch?v=uFE33bp_UcA\" rel=\"noopener\">Robotiq Dual Gripper Demo at Automate 2017<\/a>\n\n[embed]https:\/\/www.youtube.com\/watch?v=uFE33bp_UcA[\/embed]\n\nThis video by FANUC America Corporation demonstrates a <a href=\"https:\/\/www.youtube.com\/watch?v=lAgrrqTgWbQ\" rel=\"noopener\">robotic assembly system for electrical wire harnesses<\/a>:\n\n[embed]https:\/\/www.youtube.com\/watch?v=lAgrrqTgWbQ[\/embed]\n\nSometimes soft robotic grippers are used for picking delicate objects, like fruit.\u00a0 Soft robotic grippers are typically pneumatically actuated, with bellows that curve the fingers as they inflate, to morph softly around the object.\u00a0 These videos by the University of Sydney and Rochu show soft robotic grippers picking fruit and vegetables:\n\nVideo: <a href=\"https:\/\/www.youtube.com\/watch?v=Z3TC-PLqGP4\" rel=\"noopener\">Robotic Arm Picking Apples<\/a>\n\n[embed]https:\/\/www.youtube.com\/watch?v=Z3TC-PLqGP4[\/embed]\n\nVideo: <a href=\"https:\/\/www.youtube.com\/watch?v=vTlB753nsFE\" rel=\"noopener\">Rochu Soft Robotic Gripper for Food Industry Automatic Solution<\/a>\n\n[embed]https:\/\/www.youtube.com\/watch?v=vTlB753nsFE[\/embed]\n\nThe gripper is also the most complicated EOAT to calculate, because its grip force is proportional to friction between the gripper fingers and the object as well as the number of fingers on the gripper.\u00a0 \u00a0Often, a kinematic linkage is used to transmit force from the actuator to the tip, further complicating the mathematics. The following video shows how to calculate grip tool force for a simple parallel gripper based on part weight, acceleration, and friction.\n\nVideo: <a href=\"https:\/\/youtu.be\/oWAEDAyTTMM\" rel=\"noopener\">Gripper EOAT Example<\/a>\n\n[embed]https:\/\/youtu.be\/oWAEDAyTTMM[\/embed]\n<h2>Quick Quiz<\/h2>\nThe original version of this chapter contained H5P content. You may want to remove or replace this element.","rendered":"<h1>1) &#8220;The Claw&#8221; Introduction<\/h1>\n<p>A robot cannot pick up objects or perform operations on its own &#8211; it needs a claw suitable for the operation.\u00a0 This &#8220;claw,&#8221; as it is called colloquially, is known as an &#8220;end-of-arm tool&#8221; (EOAT) or just &#8220;tool&#8221; in industry, and an &#8220;end effector&#8221; (EE) in academia.\u00a0 These are used to:<\/p>\n<ul>\n<li>pick and place objects<\/li>\n<li>draw, weld, glue, or cut,<\/li>\n<li>insert or poke things<\/li>\n<li>other applications<\/li>\n<\/ul>\n<p>A typical EOAT consists of:<\/p>\n<ol>\n<li>a <em>flange<\/em> that mounts to the robot&#8217;s wrist,<\/li>\n<li>an <em>angled bloc<\/em>k to avoid singularities when aligning the tool tip with the approach vector,<\/li>\n<li>a <em>standoff<\/em> that offsets the tool tip from the robot&#8217;s wrist to allow reaching into tight spaces, and<\/li>\n<li>an <em>endpiece<\/em> that enables interaction between the tool and the workpiece or part to pick.<\/li>\n<\/ol>\n<p>Different EOATs are used for different applications, but the most common ones for pick-and-place operations are:<\/p>\n<ul>\n<li>magnet tools<\/li>\n<li>suction tools<\/li>\n<li>gripper tools<\/li>\n<\/ul>\n<p>The following video explains end-of-arm tools in more detail.<\/p>\n<p>Video: <a href=\"https:\/\/youtu.be\/3IUAq_UnyH8\" rel=\"noopener\">Robotic End-of-Arm Tools<\/a><\/p>\n<p><iframe loading=\"lazy\" id=\"oembed-1\" title=\"Robot End of Arm Tools (EOATs) Intro\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/3IUAq_UnyH8?feature=oembed&#38;rel=0\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/p>\n<h2>Quick Quiz<\/h2>\n<p>The original version of this chapter contained H5P content. You may want to remove or replace this element.<\/p>\n<h1>2) Magnet Tools<\/h1>\n<p>A magnetic EOAT is used to pick smooth, ferrous objects.\u00a0 This EOAT has a magnetic endpiece, so this must be designed with enough surface area contacting the part &#8211; easy if the part has a flat surface, not so easy if the surface is curved or oddly shaped.\u00a0 This video by HVR Magnetics Co. shows a large gantry robot lifting steel sheets with magnets:<\/p>\n<p>Video: <a href=\"https:\/\/www.youtube.com\/watch?v=Hms6IxlN8HQ\" target=\"_blank\" rel=\"noopener\">Loading Steel Sheet onto Cutting Table with Lift Magnets on Gantry Robot System<\/a><\/p>\n<p><iframe loading=\"lazy\" id=\"oembed-2\" title=\"Loading Steel Sheet onto Cutting Table with Lift Magnets on Gantry Robot System | HVR MAG\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/Hms6IxlN8HQ?feature=oembed&#38;rel=0\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/p>\n<p>This next video by CKD Corporation demonstrates a Yaskawa robot picking and placing ferromagnetic billets using different magnetic EOATs.<\/p>\n<p>Video: <a href=\"https:\/\/www.youtube.com\/watch?v=bL3iogAYO0A\" rel=\"noopener\">Pick &amp; place with Yaskawa robot using CKD magnetic attraction hand &amp; free position pad unit<\/a><\/p>\n<p><iframe loading=\"lazy\" id=\"oembed-3\" title=\"Pick &amp; place with Yaskawa robot using CKD magnetic attraction hand &amp; free position pad unit\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/bL3iogAYO0A?feature=oembed&#38;rel=0\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/p>\n<p>Common magnetic EOAT suppliers are <a href=\"https:\/\/www.magnetics.com\/applications\/lifting\/automated-robotic-lifting\" rel=\"noopener\">Industrial Magnetics<\/a> and <a href=\"https:\/\/magswitch.com\/?srsltid=AfmBOorRnwNpF59jHDdSyPI5kUFSJeRijNu3z3X3OhHvGSZOBF31mS_W\" rel=\"noopener\">Magswitch<\/a>.\u00a0 The magnets are selected based on force, but the max force listed on the spec sheet is often not enough to lift a part of the same weight due to accelerations or contacting lines instead of planes (i.e. on curved surfaces).\u00a0 The following video shows how to calculate the required strength of a magnet for pick-and-place tasks.<\/p>\n<p>Video: <a href=\"https:\/\/youtu.be\/eKxCF74KSJ4\" rel=\"noopener\">Magnet EOAT Example<\/a><\/p>\n<p><iframe loading=\"lazy\" id=\"oembed-4\" title=\"Magnetic EOAT Example\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/eKxCF74KSJ4?feature=oembed&#38;rel=0\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/p>\n<h2>Quick Quiz<\/h2>\n<p>The original version of this chapter contained H5P content. You may want to remove or replace this element.<\/p>\n<h1>3) Suction Tools<\/h1>\n<p>Suction cups are the most generic, widely applicable end-of-arm tools.\u00a0 They are used for anything with a smooth surface. <span style=\"text-align: initial; font-size: 1em;\">Suction cups are specially made for different surfaces, including plastic, wood, films, and glass.\u00a0 <\/span><a style=\"text-align: initial; font-size: 1em;\" href=\"https:\/\/www.piab.com\/en-us\/suction-cups-and-soft-grippers\" rel=\"noopener\">Piabb<\/a><span style=\"text-align: initial; font-size: 1em;\"> and <\/span><a style=\"text-align: initial; font-size: 1em;\" href=\"https:\/\/www.schmalz.com\/en\/vacuum-technology-for-automation\/vacuum-components\/vacuum-suction-cups\/\" rel=\"noopener\">Schmalz<\/a><span style=\"text-align: initial; font-size: 1em;\"> are common suction cup suppliers.\u00a0 The number of suction cups used depends on the size of the cups, weight distribution of the object, and smooth surface area for contact.\u00a0 For small objects, a single suction cup is often used, while for larger objects, an EOAT may consist of an array of cups or a vacuum pad.\u00a0 This video by Southie Autonomy shows a <a href=\"https:\/\/www.youtube.com\/watch?v=XnkBcjvVsIo\" rel=\"noopener\">beverage packing robot on a production line<\/a> using a vacuum pad to lift packs of drinks.<\/span><\/p>\n<p><iframe loading=\"lazy\" id=\"oembed-5\" title=\"Beverage variety packing robot arm on a production line\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/XnkBcjvVsIo?feature=oembed&#38;rel=0\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/p>\n<p>This video by Universal Logic of a <a href=\"https:\/\/www.youtube.com\/watch?v=pS9-lu3InLE\" rel=\"noopener\">Neocortex G2R cell<\/a> shows robots that use AI and computer vision combined with suction EOATs to perform order fulfillment, picking and placing a variety of smooth objects.<\/p>\n<p><iframe loading=\"lazy\" id=\"oembed-6\" title=\"Neocortex G2R Cells:  Flexibility @ Speed\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/pS9-lu3InLE?feature=oembed&#38;rel=0\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/p>\n<p><span style=\"text-align: initial; font-size: 1em;\">The following video shows how to calculate suction cup size and number for an EOAT based on part weight, acceleration, and available vacuum pressure.<\/span><\/p>\n<p>Video: <a href=\"https:\/\/youtu.be\/-k2peNweVhE\" rel=\"noopener\">Suction EOAT Example<\/a><\/p>\n<p><iframe loading=\"lazy\" id=\"oembed-7\" title=\"Suction EOAT Example\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/-k2peNweVhE?feature=oembed&#38;rel=0\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/p>\n<h2>Quick Quiz<\/h2>\n<p>The original version of this chapter contained H5P content. You may want to remove or replace this element.<\/p>\n<h1>4) Gripper Tools<\/h1>\n<p>Gripper EOATs are often part-specific, so a certain gripper would be used for a certain part to pick.\u00a0 Grippers are more complicated to design and manufacture, but they also allow finer control.\u00a0 They are the best type of gripper for squishy or irregular objects, but they can be used for almost anything.\u00a0 Common robotic gripper manufacturers are <a href=\"https:\/\/schunk.com\/us\/en\/gripping-systems\/c\/PUB_8293?\" rel=\"noopener\">Schunk<\/a>, <a href=\"https:\/\/onrobot.com\/us\/products-and-solutions\" rel=\"noopener\">Onrobot<\/a>, and <a href=\"https:\/\/robotiq.com\/products\/adaptive-grippers\" rel=\"noopener\">Robotiq<\/a>.\u00a0 The following video by ceylon CAD shows close-up animations of various types of angular and parallel grippers, revealing how they work:<\/p>\n<p>Video: <a href=\"https:\/\/www.youtube.com\/watch?v=s_UztFdAaTE\" rel=\"noopener\">Gripper Designs<\/a><\/p>\n<p><iframe loading=\"lazy\" id=\"oembed-8\" title=\"GRIPPER DESIGNS - All in one -  #solidworks, #design, #gripper, #eoat, #cad, #hydraulic\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/s_UztFdAaTE?feature=oembed&#38;rel=0\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/p>\n<p>Robotic grippers can be either pneumatically or electromechanically actuated.\u00a0 Pneumatic grippers are binary, either fully open, or fully shut, and are high-strength and simple to design and operate.\u00a0 Electromechanical grippers are more complex, allowing slower and finer motion control for lighter objects.\u00a0 The following video demonstrates an electromechanical Robotiq gripper with a Universal Robot for a machine tending operation.<\/p>\n<p>Video: Machine Tending with <a href=\"https:\/\/www.youtube.com\/watch?v=uFE33bp_UcA\" rel=\"noopener\">Robotiq Dual Gripper Demo at Automate 2017<\/a><\/p>\n<p><iframe loading=\"lazy\" id=\"oembed-9\" title=\"Machine Tending With Robotiq Dual Gripper Demo at Automate 2017\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/uFE33bp_UcA?feature=oembed&#38;rel=0\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/p>\n<p>This video by FANUC America Corporation demonstrates a <a href=\"https:\/\/www.youtube.com\/watch?v=lAgrrqTgWbQ\" rel=\"noopener\">robotic assembly system for electrical wire harnesses<\/a>:<\/p>\n<p><iframe loading=\"lazy\" id=\"oembed-10\" title=\"Robotic Assembly System for Electrical Wire Harnesses - Clear Automation\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/lAgrrqTgWbQ?feature=oembed&#38;rel=0\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/p>\n<p>Sometimes soft robotic grippers are used for picking delicate objects, like fruit.\u00a0 Soft robotic grippers are typically pneumatically actuated, with bellows that curve the fingers as they inflate, to morph softly around the object.\u00a0 These videos by the University of Sydney and Rochu show soft robotic grippers picking fruit and vegetables:<\/p>\n<p>Video: <a href=\"https:\/\/www.youtube.com\/watch?v=Z3TC-PLqGP4\" rel=\"noopener\">Robotic Arm Picking Apples<\/a><\/p>\n<p><iframe loading=\"lazy\" id=\"oembed-11\" title=\"Robotic Arm Picking Apples\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/Z3TC-PLqGP4?feature=oembed&#38;rel=0\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/p>\n<p>Video: <a href=\"https:\/\/www.youtube.com\/watch?v=vTlB753nsFE\" rel=\"noopener\">Rochu Soft Robotic Gripper for Food Industry Automatic Solution<\/a><\/p>\n<p><iframe loading=\"lazy\" id=\"oembed-12\" title=\"Rochu soft robotic gripper for food industry automatic solution\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/vTlB753nsFE?feature=oembed&#38;rel=0\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/p>\n<p>The gripper is also the most complicated EOAT to calculate, because its grip force is proportional to friction between the gripper fingers and the object as well as the number of fingers on the gripper.\u00a0 \u00a0Often, a kinematic linkage is used to transmit force from the actuator to the tip, further complicating the mathematics. The following video shows how to calculate grip tool force for a simple parallel gripper based on part weight, acceleration, and friction.<\/p>\n<p>Video: <a href=\"https:\/\/youtu.be\/oWAEDAyTTMM\" rel=\"noopener\">Gripper EOAT Example<\/a><\/p>\n<p><iframe loading=\"lazy\" id=\"oembed-13\" title=\"Gripper EOAT Example\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/oWAEDAyTTMM?feature=oembed&#38;rel=0\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/p>\n<h2>Quick Quiz<\/h2>\n<p>The original version of this chapter contained H5P content. You may want to remove or replace this element.<\/p>\n","protected":false},"author":1,"menu_order":5,"template":"","meta":{"pb_show_title":"","pb_short_title":"Ch. 5: End of Arm Tool Design","pb_subtitle":"","pb_authors":["eledoux"],"pb_section_license":""},"chapter-type":[],"contributor":[62],"license":[],"class_list":["post-47","chapter","type-chapter","status-publish","hentry","contributor-eledoux"],"part":18,"_links":{"self":[{"href":"https:\/\/libraryresources.nse.org.ng\/robotics\/wp-json\/pressbooks\/v2\/chapters\/47","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/libraryresources.nse.org.ng\/robotics\/wp-json\/pressbooks\/v2\/chapters"}],"about":[{"href":"https:\/\/libraryresources.nse.org.ng\/robotics\/wp-json\/wp\/v2\/types\/chapter"}],"author":[{"embeddable":true,"href":"https:\/\/libraryresources.nse.org.ng\/robotics\/wp-json\/wp\/v2\/users\/1"}],"version-history":[{"count":1,"href":"https:\/\/libraryresources.nse.org.ng\/robotics\/wp-json\/pressbooks\/v2\/chapters\/47\/revisions"}],"predecessor-version":[{"id":48,"href":"https:\/\/libraryresources.nse.org.ng\/robotics\/wp-json\/pressbooks\/v2\/chapters\/47\/revisions\/48"}],"part":[{"href":"https:\/\/libraryresources.nse.org.ng\/robotics\/wp-json\/pressbooks\/v2\/parts\/18"}],"metadata":[{"href":"https:\/\/libraryresources.nse.org.ng\/robotics\/wp-json\/pressbooks\/v2\/chapters\/47\/metadata\/"}],"wp:attachment":[{"href":"https:\/\/libraryresources.nse.org.ng\/robotics\/wp-json\/wp\/v2\/media?parent=47"}],"wp:term":[{"taxonomy":"chapter-type","embeddable":true,"href":"https:\/\/libraryresources.nse.org.ng\/robotics\/wp-json\/pressbooks\/v2\/chapter-type?post=47"},{"taxonomy":"contributor","embeddable":true,"href":"https:\/\/libraryresources.nse.org.ng\/robotics\/wp-json\/wp\/v2\/contributor?post=47"},{"taxonomy":"license","embeddable":true,"href":"https:\/\/libraryresources.nse.org.ng\/robotics\/wp-json\/wp\/v2\/license?post=47"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}