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The end effector of an assembly line robot would typically be a [[Welding|welding head]], or a [[Spray painting|paint spray gun]]. A [[surgical robot]]'s end effector could be a [[scalpel]] or others tools used in surgery. Other possible end effectors are machine tools, like a [[drill]] or [[milling cutter]]s. The end effector on the [[Canadarm|space shuttle’s robotic arm]] uses a pattern of wires which close like the [[aperture]] of a camera around a handle or other grasping point.
When referring to robotic prehension there are four general categories of robot grippers, these are:<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.
# Ingressive – pins, needles or hackles which physically penetrate the surface of the object (used in textile, carbon and glass fibre handling).
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