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In the strict definition, which originates from serial robotic [[manipulator (device)|manipulators]], the end effector means the last link (or end) of the robot. At this endpoint, the [[tool]]s are attached. In a wider sense, an end effector can be seen as the part of a robot that interacts with the work environment. This does not refer to the wheels of a [[mobile robot]] or the feet of a [[humanoid robot]], which are not end effectors but rather part of a robot's mobility.
End effectors may consist of a gripper or a tool. bb
When referring to robotic prehension there are four general categories of robot grippers:<ref>{{cite book |last1=Monkman |first1=G. J. |last2=Hesse |first2=S. |last3=Steinmann |first3=R. |last4=Schunk |first4=H. |title=Robot Grippers |publisher=Wiley-VCH |year=2007 |isbn=978-3-527-40619-7 |page=62}}</ref>
# Impactive: jaws or claws which physically grasp by direct impact upon the object.
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