What is end-of-arm tooling (EOAT) and what types of grippers are available?

End-of-arm tooling (EOAT) is any device mounted to the end of a robot arm that enables the robot to interact with its environment — gripping, holding, moving, and placing parts. Grippers are the most common EOAT type, and they come in several technologies suited to different applications. Pneumatic grippers use compressed air to open and close jaws and are the workhorse for general-purpose pick-and-place — available in parallel (jaws move in/out), angular (jaws pivot), and three-finger configurations. Electric grippers use servo motors for programmable grip force and position, ideal for delicate or variable parts. Vacuum grippers use suction cups to handle flat, smooth, or flexible items like sheets, boxes, and bags. Magnetic grippers handle ferrous metal parts without mechanical contact.

How do I choose between a pneumatic and electric gripper?

The choice depends on the application's requirements for force control, speed, flexibility, and environment. Pneumatic grippers are faster, simpler, and less expensive — they open and close quickly with high grip force relative to their size, making them ideal for high-cycle pick-and-place of consistent parts where grip force does not need to vary. Electric grippers offer programmable grip force, adjustable jaw position, and the ability to handle parts of varying sizes without changing tooling — making them the better choice for delicate parts (electronics, glass, food), mixed-product lines, and applications requiring force feedback to verify a part is gripped correctly. Electric grippers also eliminate the need for compressed air at the robot, simplifying installation for cobots and mobile platforms. If the application involves a single consistent part at high speed, pneumatic is typically the most cost-effective. If flexibility, precision, or gentle handling is needed, electric is the better investment.

What are quick-change systems and why are they important?

Quick-change systems (also called automatic tool changers) allow a robot to rapidly swap between different end-of-arm tools — grippers, suction cups, deburring tools, screwdrivers, dispensing nozzles — without manual intervention. The system consists of a master plate (mounted permanently on the robot wrist) and a tool plate (mounted on each EOAT). When the robot needs to change tools, it docks with the appropriate tool plate, locks it mechanically and connects pneumatic, electrical, and signal lines through integrated pass-throughs — all in seconds. Quick-change systems are critical for flexible manufacturing where a single robot performs multiple tasks, for reducing changeover time when switching between product variants, and for maximizing robot utilization by enabling one robot to do the work of several dedicated machines.

What accessories support grippers and EOAT systems?

Gripper and EOAT accessories extend functionality and adapt the tooling to specific workpiece requirements. Finger kits and custom jaws allow standard grippers to be tailored to grip specific part geometries — flat, round, irregular, or delicate surfaces. Sensors integrated into grippers provide feedback on grip status, part presence, and grip force, enabling the robot to verify it has securely grasped the part before moving. Rotary gripper modules combine a gripper with a rotary actuator, allowing the robot to grip and orient parts in a single tool. Mounting brackets and adapters interface the EOAT with different robot wrist standards. Protective covers and bellows shield the gripper from dust, coolant, and debris in harsh environments. Having the right accessories ensures the EOAT performs reliably across varying part types and environmental conditions.

What is vacuum gripping and when is it the best choice?

Vacuum gripping uses suction cups connected to a vacuum generator to pick up and hold objects by creating negative pressure against the object's surface. It is the best choice for handling flat, smooth, or lightly textured items — cardboard boxes, plastic sheets, glass panels, metal plates, bags, and food packaging — where mechanical jaws would be impractical, too slow, or could damage the product. Vacuum grippers handle a wide range of sizes with a single tool by using multiple suction cups arranged in a pattern that matches the product footprint. They are fast (grip and release in milliseconds), gentle (no clamping force on the product), and simple to maintain. Limitations include difficulty gripping porous or highly irregular surfaces that prevent a seal, and reduced holding force at high acceleration. For porous materials, foam or bellows-style cups improve the seal; for heavy loads, larger cups or higher vacuum levels increase holding capacity.

Grippers/End of Arm Tooling - Numatics

Grippers and end-of-arm tooling (EOAT) are vital in robotic and automated systems due to their versatility and customization. They handle tasks from simple pick-and-place to complex assembly and packaging, making t...

Categories from Numatics (3)

2 Jaw Gripper

Two-jaw grippers are the workhorse of robotic and automated part handling. Two parallel or angular fingers close on the part to grip it securely, so they suit picking, placing, machine tending and assembly work.

Two-Jaw Gripper Options

Parallel grippers – fingers move straight in and out for consistent gripping
Angular grippers – fingers pivot open for compact, economical designs
Long-stroke grippers – handle a wide range of part sizes
Pneumatic and electric drives – fast air-powered or programmable electric
Sealed and high-force models – for dirty environments and heavy parts

Sizing a Gripper

Calculate the grip force needed for the part's weight, plus a safety factor for acceleration and finger length. Choose a stroke that clears the part comfortably. Custom fingers shaped to the part improve grip and prevent slipping. Position sensors confirm that the gripper has opened or closed.

Centro carries 2-jaw grippers and the sensors, fingers and adapters to put them to work.

Related categories: Pneumatic Gripper | 4-Finger Gripper | Angular Grippers | Cobot Grippers | O-Ring Gripper

Angular Grippers

Angular grippers open their jaws in an arc rather than straight in and out. They're compact, lightweight and economical, and the wide opening clears parts easily for fast pick-and-place.

Angular Gripper Features

Wide jaw opening – clears parts without extra robot motion
Compact design – low weight on robot arms
High grip force – strong hold for size
Pneumatic operation – fast, simple control
Sensor-ready – magnetic position sensing

When to Use Angular Grippers

Angular grippers suit applications where the jaw arc won't interfere with nearby parts or fixtures. For parts that need precise centering, consider parallel grippers. Calculate grip force with finger length in mind.

Centro supplies angular grippers and accessories for automation.

Related categories: Pneumatic Gripper | Cobot Grippers | 4-Finger Gripper | O-Ring Gripper | 2 Jaw Gripper

3 Jaw Gripper

Three-jaw grippers center and hold round, cylindrical and spherical parts using three jaws spaced at 120°. They give excellent concentric gripping for shafts, caps, pistons and turned parts in machine tending and assembly.

Three-Jaw Gripper Features

Self-centering grip – precise alignment of round parts
High grip force – secure handling of heavier parts
Inside or outside gripping – grip bores or outer diameters
Pneumatic and electric models – speed or programmability
Sealed versions – machining and dirty environments

Sizing a Gripper

Calculate grip force from part weight, acceleration and finger length. Choose jaw stroke to cover your part diameter range. Custom jaws improve contact and repeatability.

Centro supplies three-jaw grippers and jaws to match.

Related categories: Pneumatic Gripper | O-Ring Gripper | Cobot Grippers | Angular Grippers | 4-Finger Gripper

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Grippers/End of Arm Tooling - Numatics

Two-Jaw Gripper Options

Sizing a Gripper

Angular Gripper Features

When to Use Angular Grippers

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Sizing a Gripper

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