Chapter 9 End Effectors ff ff 281 Copyright Goodheart-Willcox Co., Inc. A B C D PRI-Precision Robots, Inc. Schunk-USA Figure 9-11. Custom-designed end effectors. A—The gripper on this robot transfers large silicon wafers from one container to another. B—This three-fi internal gripping end effector is used in a production line for machining precision gears. fingered, C—This dual end effector has internal and external gripping capabilities. D—A parallel-motion gripper is used to insert components into a printed circuit board prior to soldering.