GrippersGrippersGrippers are located at the end of a wrist. They are used to hold whatever the robot is to manipulate (Figure 2-11). Pick-and-place robots have grippers to move objects from one place to another.Some robots have end-of-arm tooling instead of grippers. In such cases, the robot is used primarily for one type of operation, such as spray painting or welding. If a tool is attached, it is unnecessary to have a gripper on the end of the arm. A pneumatic impact wrench can be fitted at the end of the arm just as easily as a set of grippers.
Mark R. Miller; Rex Miller: Robots and Robotics: Principles, Systems, and Industrial Applications. Grippers, Chapter (McGraw-Hill Professional, 2017), AccessEngineering