270 Copyright Goodheart-Willcox Co., Inc. Chapter End Effectors 9 Technical Terms Outline 9.1 End Effector Movement 9.2 Types of End Effectors 9.3 Changeable End Effectors 9.4 End Effector Design Objectives Upon completion of this chapter, you will be able to: • Discuss the types of movements an end effector can perform. • Describe the types of end effector grippers and end effector tools. • Identify the benefi of changeable end effectors. fits • List important factors and desirable characteristics to be considered in the design of end effectors. automatic tool changer collet gripper compliance cylindrical grip electromechanical gripper expandable gripper gripper hook movement lateral grip magnetic gripper mechanical fi nger gripper fi nonprehensile movement oppositional grip overload sensor palmar grip prehensile movement remote center compliance (RCC) device spherical grip spread movement tool vacuum gripper