A vendor- and part-number-level catalog of industrial end-of-arm tooling (EOAT): every gripper morphology in production use, with manufacturer, flagship product line, key specs, mounting interface, and comms protocol. Companion to [[Robotics/Tier3/end-effectors-zoo]] (which is morphology-narrative) — this note is product-table-first, organized so a designer can resolve a sourcing question in a single glance.
1. Mounting interfaces — the boundary condition
Every gripper in the tables below bolts to one of these flanges. Mass and moment-arm budgets count from this plane outward.
Mid-frame industrial (ABB IRB 1600/2600, KUKA KR Agilus)
ISO 9409-1-A80
6 × M8 on Ø80 mm
Ø63 mm boss
Heavy industrial (Fanuc M-20, ABB IRB 4600, KUKA KR Quantec)
ISO 9409-1-A125
6 × M10 on Ø125 mm
Ø100 mm boss
Payload-class arms (Fanuc M-410, KUKA KR Fortec)
Fanuc J6 proprietary
4 × M6 / 4 × M8
Vendor boss
Fanuc-specific wrist flanges
Kawasaki J6 proprietary
6 × M6
Vendor boss
Kawasaki BX/RS series
2. Parallel-jaw 2-finger — electric
Electric servo-actuated parallel grippers. The cobot and modern factory default. Specs as published by the vendor at 6 bar / nominal current.
Model
Manufacturer
Stroke (mm)
Force (N)
Payload (kg)
Cycle (ms)
Repeatability
Mass (kg)
Mount
Comms
Price tier
Hand-E
Robotiq
50
60-185
4
250
±0.05 mm
0.96
ISO 9409-1-50
RS-485, URCap, EtherNet/IP
Mid
2F-85
Robotiq
85
20-235
5
400
±0.05 mm
0.93
ISO 9409-1-50
RS-485, URCap
Mid
2F-140
Robotiq
140
10-125
2.5
600
±0.08 mm
1.0
ISO 9409-1-50
RS-485, URCap
Mid
3F Adaptive
Robotiq
155
15-60 per finger
10
1100
±0.05 mm
2.3
ISO 9409-1-50
RS-485, EtherCAT, EtherNet/IP
High
RG2
OnRobot
110
3-40
2
500
±0.1 mm
0.78
ISO 9409-1-50
URCap, Modbus TCP, EtherNet/IP
Mid
RG6
OnRobot
150
25-120
6
600
±0.1 mm
1.25
ISO 9409-1-50
URCap, Modbus TCP
Mid
2FG7
OnRobot
70
3-140
11
250
±0.1 mm
1.1
ISO 9409-1-50
URCap, EtherNet/IP, PROFINET
Mid
2FG14
OnRobot
140
10-140
14
500
±0.1 mm
1.45
ISO 9409-1-50
URCap, EtherNet/IP
Mid
3FG15
OnRobot
150
10-240
15
600
±0.1 mm
1.55
ISO 9409-1-50
URCap, EtherNet/IP
High
EGP 25
Schunk
8
110
0.4
80
±0.02 mm
0.27
ISO 9409-1-A40
Digital I/O
Mid
EGP 40
Schunk
12
240
1.0
130
±0.02 mm
0.6
ISO 9409-1-A50
Digital I/O
Mid
EGP 50
Schunk
16
490
2.5
170
±0.02 mm
1.05
ISO 9409-1-A50
Digital I/O
Mid
EGP-C 40
Schunk
12
140
1.0
130
±0.02 mm
0.6
ISO 9409-1-A50
PROFINET, EtherCAT, Cobot-rated
Mid
EGI 80
Schunk
80
250
4
600
±0.02 mm
1.6
ISO 9409-1-A63
IO-Link, PROFINET
High
EGK 40
Schunk
83
150
4
800
±0.05 mm
1.7
ISO 9409-1-A50
IO-Link, PROFINET
High
EGK 50
Schunk
105
220
6
900
±0.05 mm
2.5
ISO 9409-1-A63
IO-Link, PROFINET
High
RCP6-GRSL
IAI
50
100
1.5
300
±0.03 mm
0.8
M4×4
Pulse, EtherCAT, CC-Link IE
Mid
RCP6-GRSML
IAI
76
80
1.5
400
±0.05 mm
1.0
M4×4
Pulse, EtherCAT
Mid
LEHF20K2
SMC
20
110
0.5
200
±0.05 mm
0.5
M5×4
EtherCAT, EtherNet/IP, PROFINET
Mid
LEHF40K2
SMC
40
350
2.0
300
±0.05 mm
1.2
M5×4
EtherCAT, IO-Link
Mid
HGPL-25
Festo
50
95
1.0
280
±0.03 mm
0.55
ISO 9409-1-A50
IO-Link, EtherCAT
Mid
EHPS-16
Festo
16
150
0.8
200
±0.02 mm
0.45
Proprietary
IO-Link
Mid
GPP5010NC
Zimmer
10
270
0.7
100
±0.02 mm
0.4
ISO 9409-1-A40
Digital I/O, IO-Link
Mid
GPP5050IL
Zimmer
50
1100
4.0
550
±0.02 mm
1.8
ISO 9409-1-A63
IO-Link
High
GEH6040
Zimmer
40
220
3.0
350
±0.03 mm
1.1
ISO 9409-1-A50
EtherCAT, PROFINET
High
Co-act EGL-C
Schunk
80
450
8.0
1400
±0.05 mm
2.3
ISO 9409-1-A50
PROFINET, IO-Link, cobot
High
3. Parallel-jaw 2-finger — pneumatic
Compressed-air actuated. Industrial workhorse. Force spec at 6 bar (90 psi) supply; derate ~17%/bar below.
Model
Manufacturer
Stroke/side (mm)
Force at 6 bar (N)
Cycle (ms)
Repeatability
Mass (kg)
Mount
Comms
PGN-plus 40
Schunk
3
145
80
±0.01 mm
0.16
ISO 9409-1-A40
Reed/Hall sensor
PGN-plus 100
Schunk
8
700
100
±0.02 mm
0.93
ISO 9409-1-A63
Reed/Hall sensor
PGN-plus 200
Schunk
16
4250
200
±0.03 mm
5.8
ISO 9409-1-A100
Reed/Hall sensor
PGN-plus 380
Schunk
43
21300
800
±0.05 mm
65
ISO 9409-1-A160
Reed/Hall sensor
PZN-plus 64
Schunk (3-jaw)
6
850
130
±0.02 mm
0.75
ISO 9409-1-A50
Reed sensor
PZN-plus 240
Schunk (3-jaw)
25
14000
500
±0.03 mm
24
ISO 9409-1-A125
Reed sensor
PGB 100
Schunk (long-stroke)
50
380
600
±0.05 mm
1.4
ISO 9409-1-A63
Reed sensor
PGB 240
Schunk (long-stroke)
100
2200
1100
±0.08 mm
12
ISO 9409-1-A100
Reed sensor
MHL2-10D
SMC
20
30
100
±0.05 mm
0.18
M3×4
Reed/Hall
MHL2-25D
SMC
50
170
150
±0.05 mm
0.7
M5×4
Reed/Hall
MHL2-40D
SMC
80
470
200
±0.07 mm
1.7
M6×4
Reed/Hall
MHS3-16D
SMC (3-jaw)
5
70
80
±0.05 mm
0.13
M3×3
Reed
MHS3-40D
SMC (3-jaw)
12
750
140
±0.06 mm
1.0
M5×3
Reed
HGPL-14
Festo (long-stroke)
25
60
150
±0.03 mm
0.25
M3×4
Reed/Hall
HGPL-25
Festo
50
245
200
±0.04 mm
0.85
M5×4
Reed/Hall
HGPL-40
Festo
100
720
300
±0.05 mm
2.4
M6×4
Reed/Hall
HGPL-63
Festo
180
1860
600
±0.08 mm
7.0
M8×4
Reed/Hall
HGWM-16
Festo (wide-jaw)
16
50
100
±0.03 mm
0.13
M3×4
Reed
HGDS-25
Festo (3-jaw)
4
280
110
±0.03 mm
0.34
M5×3
Reed
HGPC-25
Festo (3-point centric)
6
195
100
±0.02 mm
0.4
M5×3
Reed
GP-3-080
Sommer-automatic (3-jaw)
8
950
120
±0.03 mm
1.1
ISO 9409-1-A50
Reed/Hall
MGP-100
Sommer-automatic
12
690
110
±0.02 mm
0.95
ISO 9409-1-A50
Reed
4. Three-finger and dexterous hands
Multi-finger configurations: 3-jaw centric chucks aside, the dexterous-hand class covers 3-finger underactuated grippers through 24-DoF anthropomorphic research hands.
Model
Manufacturer
Fingers
Active DoF
Total DoF
Payload (kg)
Force/finger (N)
Mass (kg)
Mount
Comms
Tier
3F Adaptive
Robotiq
3
4
11
10
60
2.3
ISO 9409-1-50
Modbus RTU, EtherNet/IP
Industrial
3FG15
OnRobot
3
1
3
15
240
1.55
ISO 9409-1-50
URCap, EtherNet/IP
Industrial
BarrettHand BH8-282
Barrett Technology
3
4
8
6
15
1.18
ISO 9409-1-A50
CAN, Serial
Research
BarrettHand BH8-280 (legacy)
Barrett Technology
3
4
8
6
15
1.18
Custom
CAN, Serial
Research
Allegro Hand v4
Wonik Robotics
4
16
16
1.5
5
1.0
Custom
CAN, ROS driver
Research
Allegro Hand v5
Wonik Robotics
4
16
16
1.5
5
0.85
Custom
CAN-FD, EtherCAT, ROS 2
Research
Shadow Dexterous Hand E3M5
Shadow Robot Co.
5
20
24
4
8-10
4.3
Forearm-mount
EtherCAT, ROS
Research
Shadow Lite
Shadow Robot Co.
5
9
13
2
6
1.9
ISO 9409-1-50
EtherCAT
Research
SVH 5-finger
Schunk
5
9
20
1.5
10
1.3
ISO 9409-1-50
RS-232, CAN, EtherCAT
Industrial/Research
Pisa/IIT SoftHand
qb Robotics / IIT
5
1
19
2
8
0.5
ISO 9409-1-50
RS-485, ROS
Research
qb SoftHand2
qb Robotics
5
2
19
2
10
0.74
ISO 9409-1-50
RS-485
Research
RBO Hand 2
TU Berlin / RBO
5
7 (pneu)
24
0.5
5
0.18
Custom
Air manifold
Research
RBO Hand 3
TU Berlin / RBO
5
8
28
1.0
7
0.3
Custom
Air manifold
Research
iCub Hand v3
IIT (iCub research)
5
9
19
0.5
4
0.45
Forearm-mount
CAN, YARP
Research
HRP-4 Hand
Kawada / AIST
5
6
12
1.0
8
0.7
Wrist
RS-485
Research
InMoov Hand
InMoov (open-source)
5
5
11
0.5
3
0.3
Custom
PWM servo
Hobby/Research
Adroit Hand
Wonik / OpenAI
5
24
24
1.5
8
4.0
Forearm
EtherCAT
Research (legacy)
DLR-HIT Hand II
DLR + HIT
5
15
15
1.5
10
1.5
Custom
CAN-Open
Research
Tesla Optimus Hand v2
Tesla
5
11
22
9
20
1.2
Tesla-wrist
EtherCAT (internal)
Humanoid platform
Figure 02 Hand
Figure AI
5
16
16
25 (carry)
30
unpublished
Figure-wrist
EtherCAT (internal)
Humanoid platform
Apollo Hand
Apptronik
5
12
20
25
25
unpublished
Apptronik-wrist
EtherCAT (internal)
Humanoid platform
Sanctuary Phoenix Hand
Sanctuary AI
5
21
21
25
25
unpublished
Sanctuary-wrist
EtherCAT (internal)
Humanoid platform
5. Suction / vacuum grippers
Three sub-classes: single cup heads, multi-cup area arrays, integrated cup-plus-ejector cobot tools. Cup material selection (NBR / silicone / PUR / EPDM / HNBR) is orthogonal to all of these.
5.1 Cobot-class vacuum tools
Model
Manufacturer
Cups
Cup type
Max payload (kg)
Vacuum source
Vacuum level
Mass (kg)
Mount
Comms
VG10
OnRobot
16 zones
Modular
15
Built-in electric pump
-75 kPa
1.6
ISO 9409-1-50
URCap, EtherNet/IP
VGC10
OnRobot
Single, customizable
NBR/silicone
15
Built-in electric pump
-75 kPa
0.81
ISO 9409-1-50
URCap, EtherNet/IP
VGP20
OnRobot
Up to 20 zones
Modular
20
Built-in electric pump
-75 kPa
2.1
ISO 9409-1-50
URCap, EtherNet/IP
ECBPi 12
Schmalz
1-4
NBR/SI/PUR/HNBR
8
Battery-electric pump
-85 kPa
0.55
ISO 9409-1-50
IO-Link, URCap
FXP-SVK
Schmalz
Area pad
Foam-faced silicone
25
External or built-in ejector
-80 kPa
1.8
ISO 9409-1-A63
Digital I/O
piCOMPACT 23
Piab
1-2
NBR/SI
2
Multi-stage Coanda
-85 kPa
0.18
M5×2
IO-Link
piPUMP M3
Piab
1
NBR/SI
5
Brushless DC pump
-85 kPa
0.75
ISO 9409-1-50
IO-Link
piGRIP universal
Piab
16 zones
Silicone
35
External Coanda or pump
-85 kPa
1.9
ISO 9409-1-A63
IO-Link
CFGC 50
Coval
Up to 9
Silicone foam
12
Multi-stage Coanda
-80 kPa
1.0
ISO 9409-1-50
IO-Link
ASI VG-DUO
ASI
Up to 8
NBR/SI
10
Built-in electric
-78 kPa
1.4
ISO 9409-1-50
URCap, Digital I/O
EGM-100
Schmalz
Area pad
Closed-cell foam
30
External ejector
-80 kPa
2.5
ISO 9409-1-A63
Digital I/O
FMP series
Schmalz
Multi-bellows
NBR/SI
0.5-5/cup
External
-80 kPa
varies
M5 thread
None (passive)
FXCB
Schmalz
Closed-cell pad
EPDM foam
50
External
-60 kPa
3.5
Custom
Digital I/O
5.2 Ejectors and vacuum generators (mounted on EOAT)
Model
Manufacturer
Type
Flow (NL/min)
Vacuum (-kPa)
Mass (g)
Comms
SCM
Schmalz
Multi-stage Coanda
30-260
-85
60-450
IO-Link variants
pi-MICRO
Piab
Compact Coanda
13-50
-85
35-90
IO-Link
pi-MIDI
Piab
Stack Coanda
30-200
-90
200-700
IO-Link
VN-05/07/10
Festo
Coanda
10-90
-85
25-180
IO-Link
ZK2 series
SMC
Multi-stage
20-160
-88
50-300
IO-Link
LEMcup
Coval
Coanda + Bernoulli hybrid
30-90
-50
80
Pressure switch
6. Magnetic grippers
Model
Manufacturer
Type
Hold force (kg ferrous)
Power for hold
Switch mechanism
Mass (kg)
Mount
AR70
Magswitch
Permanent on/off
70
None
Mechanical lever
0.45
M6×4
AR125
Magswitch
Permanent on/off
125
None
Mechanical lever
1.1
M8×4
AR200
Magswitch
Permanent on/off
200
None
Mechanical lever or pneumatic
2.7
ISO 9409-1-A63
MagJig 60
Magswitch
Permanent on/off
27
None
Manual knob
0.32
M6×4
MGS-30
Schmalz
Electro-permanent
30
Pulse to switch
Electrical pulse
0.7
ISO 9409-1-50
MGS-60
Schmalz
Electro-permanent
60
Pulse to switch
Electrical pulse
1.6
ISO 9409-1-A50
MGS-200
Schmalz
Electro-permanent
200
Pulse to switch
Electrical pulse
4.8
ISO 9409-1-A63
Tecnomagnete MaxX
SPD / Tecnomagnete
Electro-permanent
100-3000
Pulse
Electrical pulse
2-50
Custom
EOAT MAG
Goudsmit
Electro-permanent
50-1500
Pulse
Electrical pulse
1-40
ISO 9409-1-A63/A100
HoldMag EPM
Eclipse Magnetics
Electro-permanent
80-800
Pulse
Electrical pulse
1.5-25
Custom
RoboticGrip 1000
Walmag
Electromagnet
1000
24 V DC continuous
Power-on hold
12
Custom
GoudsmitElectro
Goudsmit
Pure electromagnet
30-2000
24 V DC continuous
Power-on hold
0.8-60
Custom
7. Soft, jamming, and unconventional grippers
Model
Manufacturer
Class
Payload (kg)
Cycle (ms)
Mass (kg)
Mount
Comms
Notable application
mGrip 2F / 3F
Soft Robotics Inc.
Pneumatic-elastomer
0.5-3
400
0.4-0.8
ISO 9409-1-50
Digital I/O
Bakery, produce
mGripAI
Soft Robotics Inc.
Pneumatic + AI vision
1.5
500
1.2
ISO 9409-1-50
EtherNet/IP, URCap
Poultry, meat
SuperPick
Soft Robotics Inc.
Vision + suction + soft
2.5
600
2.5
ISO 9409-1-50
EtherNet/IP
E-commerce induction
Soft Gripper 3F
OnRobot
Silicone star cup
2.2
350
0.4
ISO 9409-1-50
URCap, Digital I/O
Fragile food
VERSABALL (legacy)
Empire Robotics
Particle jamming
1
300
0.5
Custom
Air manifold
Discontinued — academic ref
JamGripper (research)
Cornell + iRobot
Coffee-bean granular jamming
0.5-2
200
0.3
Custom
Air
Research
Gecko SP1
OnRobot
Dry adhesive (gecko setae)
6.5
300
0.94
ISO 9409-1-50
URCap
Glass, solar panel
Gecko SP2
OnRobot
Dry adhesive
11
350
1.2
ISO 9409-1-50
URCap, EtherNet/IP
Composite panels
Grabit Electroadhesive
Grabit Inc.
Electrostatic film
5 (sheet)
250
1.6
Custom
RS-485
Fabric, packaging
Festo BionicSoftHand
Festo
Pneumatic 5-finger soft
0.5
1000
0.22
Custom
Air manifold
Research
BionicCobot end-of-arm
Festo
Soft + cobot
1.5
800
0.4
Custom
Air
Research
HGPM-08
Festo
Needle gripper (textiles)
0.2
100
0.06
M3×4
Reed
Headliners, upholstery
Pinch RPN
Welltec
Needle, biopsy class
0.05
200
0.02
Custom
Solenoid
Medical
SLG-10/25/40
Festo
Bernoulli (non-contact)
0.5-5
n/a
0.2-0.8
M5×4
Pressure switch
Wafer, glass
LEMcup Bernoulli
Coval
Bernoulli + Coanda hybrid
0.5-4
n/a
0.18
M5×4
Pressure switch
Optical lenses
Cryogenic CryoGrip
Marel
Cryogenic gel
1-3
1200 (freeze)
1.5
Custom
Liquid N2 manifold
Boneless poultry
Artimus HASEL
Artimus Robotics
Electrohydraulic HASEL
0.1-2
50
0.05-0.3
Custom
HV controller
Research, R&D
8. Specialty wafer / semiconductor end-effectors
For ISO Class 1-5 cleanroom Front Opening Unified Pod (FOUP) and Side Storage Pod (SSP) handling. Atmosphere may be N2 / vacuum / air. Wafer sizes 200 / 300 / 450 mm.
Model
Manufacturer
Class
Wafer size (mm)
Wafer mass (g)
End-effector type
Pick method
Comms
GB-Series
Brooks Automation
Atmospheric / vacuum
200/300
130
Single-blade vacuum
Backside vacuum chuck
EtherCAT, PROFINET
MagnaTran 7
Brooks Automation
Vacuum cluster tool
300
130
Magnetic-coupled robot
Edge-contact ceramic
EtherCAT
Sapience 300
Yaskawa
Atmospheric EFEM
200/300
130
Dual-blade ceramic
Bernoulli or vacuum
MotoPlus, EtherCAT
Genmark GB-8
Genmark Automation
Atmospheric
200/300
130
Single/dual blade
Vacuum or edge-grip
EtherCAT
Genmark GENCobot
Genmark
Vacuum
300
130
Atmospheric SCARA
Vacuum / Bernoulli
EtherCAT
TARP-300
Daihen
Vacuum cluster
300
130
Dual-blade direct-drive
Edge-contact
EtherCAT
EPSON CR1
Seiko Epson
Atmospheric SCARA
200/300
130
Custom EEF
Vacuum / edge-grip
EtherNet/IP
Equipe Tech (now Brooks)
Brooks
Atmospheric / sorter
200/300
130
Edge or vacuum blade
Edge or vacuum
EtherCAT
Adept SmartMotion (legacy)
Omron (Adept)
Atmospheric
200
130
Vacuum blade
Backside vacuum
DeviceNet
RORZE RR700
RORZE
Atmospheric
200/300
130
Vacuum blade
Vacuum
EtherCAT
Kawasaki NT-series
Kawasaki
Atmospheric / vacuum
200/300/450
130/450
Bernoulli or edge
Bernoulli
EtherCAT
9. F/T sensors mounted at the wrist
Stack between robot flange and EOAT for closed-loop force / impedance / hand-guiding.
Model
Manufacturer
Axes
Fx,y range (N)
Fz range (N)
Tx,y range (Nm)
Resolution
Mass (g)
Comms
FT300-S
Robotiq
6
300
300
30
0.1 N / 0.005 Nm
300
URCap, RS-485
HEX-E v3
OnRobot
6
200
200
10
0.2 N / 0.02 Nm
350
URCap, EtherNet/IP
HEX-H v3
OnRobot
6
500
500
20
0.5 N / 0.05 Nm
380
URCap, EtherNet/IP
Mini40
ATI Industrial Automation
6
40
60
2
1/200 N
200
EtherNet, CAN, EtherCAT, USB
Mini45
ATI
6
145
290
5
1/16 N
220
EtherCAT, EtherNet/IP
Gamma
ATI
6
130
400
10
1/40 N
750
EtherCAT, RS-422
Theta
ATI
6
660
1980
60
1/8 N
1200
EtherCAT, EtherNet/IP
Omega160
ATI
6
2500
6250
400
5/8 N
7400
EtherCAT, EtherNet/IP
Axia80-M50
ATI (cobot)
6
500
900
20
0.05 N
200
URCap, EtherCAT
Nano17
ATI
6
17
17
0.12
1/320 N
9.5
DAQ-only
KMS40
Bota Systems
6
200
200
6
0.025 N
270
EtherCAT
Rokubi
Bota Systems
6
250
500
8
0.05 N
290
EtherCAT
10. Process tools mounted as end-effectors
Welding, painting, dispensing, drilling, screwdriving — when the robot becomes a process-carrier instead of a pick-and-place machine.
Tool
Manufacturer
Class
Mass (kg)
Power / supply
Mount
Comms
Servo spot weld gun X-type
ARO / DeStaCo
Resistance spot weld
50-150
480 V AC weld + servo
ISO 9409-1-A125
EtherNet/IP, ProfiNet
Servo spot weld gun C-type
Centerline / Doncasters
Resistance spot weld
60-180
480 V AC + servo
ISO 9409-1-A125
EtherNet/IP
Aluweld AC
Bosch Rexroth
MIG aluminum
8
400 V + wire feed
ISO 9409-1-A80
EtherCAT
Power Wave R450
Lincoln Electric
MIG/MAG arc
7.5
400 V + wire feed
ISO 9409-1-A50
DeviceNet, EtherNet/IP
Aristo Mig 5000i
ESAB
MIG/MAG
7
400 V + wire feed
ISO 9409-1-A50
DeviceNet, EtherNet/IP
Inobell
Sames Kremlin
Rotary atomizer paint
4
HV electrostatic + air
Custom paint flange
CANopen
ProBell
Graco
Rotary atomizer paint
3.5
HV + air
Custom
CANopen
ProMix PD2K
Graco
Adhesive plural-component
5
Multi-component pump
Custom
EtherNet/IP
Nordson EFD UltimusPlus
Nordson
Bead/dot dispenser
1.2
24 V + air
M6×4
EtherNet/IP, Digital I/O
Atlas Copco IxB
Atlas Copco
Cordless servo screwdriver
1.8
Battery 18 V
M6×4
Wi-Fi, EtherNet/IP
Bosch NEXO
Bosch
Cordless servo screwdriver
1.8
Battery 18 V
M6×4
Wi-Fi
HUCK 256
Howmet (HUCK)
Rivet installer
4
Hydraulic
ISO 9409-1-A63
Digital I/O
Atlas Copco PF6000
Atlas Copco
Servo nutrunner
2.5-12
400 V servo
ISO 9409-1-A50
EtherNet/IP, PROFINET
RAH 8
Schunk
Compliant deburring spindle
1.6
Pneumatic
ISO 9409-1-A50
Digital I/O
OPH
Schunk
Polishing spindle (compliant)
2.4
Pneumatic + electric
ISO 9409-1-A50
Digital I/O
QR-spindle
Pferd / SUHNER
Grinding spindle
2.5
Pneumatic
ISO 9409-1-A63
Digital I/O
11. Tool changers — quick-change for cells using multiple EOAT
Before ordering, verify each row from [[Robotics/end-effectors]] Section 13. The critical numbers to compute first: payload sum at wrist (part + EOAT + F/T + cables) versus arm rating at full reach; CoM offset moment; stroke versus part tolerance + presentation error; flow / volume / cycle for vacuum sizing; cleanroom or food-grade certification; supply (electric / pneumatic / vacuum / coolant).