Preparing the published article.
Standards for Robot End Effectors and Tooling
The tool is part of the safety case.
Why tooling needs its own attention
Grippers, vacuum cups, magnets and welding torches introduce hazards that the robot's own certification does not cover: stored energy, sharp edges, hot surfaces, loss of grip and pinch points between tool and workpiece.
| Hazard | Mitigation |
|---|---|
| Loss of grip | Mechanical retention, vacuum monitoring, drop testing |
| Stored energy | Pressure release before maintenance, lockout points |
| Sharp or hot surfaces | Guarding, insulation, cool-down before access |
| Pinch points | Enclosure design, force and pressure measurement |
Documentation
- Tool drawings and weights included in the cell documentation.
- Pressure and force limits recorded for collaborative applications.
- Tool change procedure with re-validation steps.
- Maintenance intervals for wear parts such as vacuum cups and seals.