La référence de la préhension robotique.
Des définitions claires et citables des termes qui comptent en préhension robotique, chargement de machines et automatisation flexible.
103 terms
EOAT (End of Arm Tooling)
The tool mounted at the end of a robot arm that interacts with the part — most often a gripper.
Definition →Gripper
An end effector that grasps, holds and releases a part during a robotic operation.
Definition →Servo-electric gripper
A gripper driven by a servo motor, giving programmable control of position, speed and force.
Definition →Electric gripper
A gripper actuated by an electric motor rather than compressed air.
Definition →Pneumatic gripper
A gripper actuated by compressed air, typically with fixed open/closed states.
Definition →Parallel gripper
A gripper whose jaws move in parallel toward and away from each other.
Definition →Angular gripper
A gripper whose jaws pivot open and closed around a hinge.
Definition →Three-jaw gripper
A gripper with three jaws, ideal for centering and holding cylindrical parts.
Definition →Two-jaw gripper
A gripper with two opposing jaws — the most common configuration.
Definition →Self-centering gripper
A gripper whose jaws move together so the part is automatically centered on the tool axis.
Definition →Adaptive gripper
A gripper that conforms to varied part shapes, often with articulated fingers.
Definition →Vacuum gripper
An end effector that holds parts using suction cups and negative pressure.
Definition →Gripping force
The clamping force a gripper applies to hold a part, often expressed in newtons or kN.
Definition →Holding force
The force keeping a part gripped once the jaws are closed, ideally maintained without power.
Definition →Clamping range (stroke)
The span of part sizes a gripper can grip, set by total jaw travel.
Definition →Jaw
The moving part of a gripper that contacts and clamps the workpiece.
Definition →Jaw change
Swapping a gripper's jaws or fingers to handle a different part — a major source of downtime.
Definition →Payload
The maximum weight a robot can carry at its wrist, including the gripper and the part.
Definition →Usable payload
The payload left for the part after subtracting the gripper's weight.
Definition →Robot payload
The rated carrying capacity of a specific robot model at its wrist.
Definition →Repeatability
How consistently a robot or gripper returns to the same position, often within microns.
Definition →Accuracy
How close a robot moves to a commanded position, distinct from repeatability.
Definition →Cycle time
The time to complete one full operation in a cell, from start to the next identical start.
Definition →Throughput
The number of parts a cell produces per unit of time.
Definition →Uptime
The proportion of available time a cell is actually producing.
Definition →Downtime
Time a cell is stopped and not producing, planned or unplanned.
Definition →Changeover
Switching a cell from one part or product to another, often requiring setup.
Definition →Machine tending
Using a robot to load and unload a machine such as a CNC, press or injection molder.
Definition →CNC loading
Robotic loading and unloading of parts into CNC machine tools.
Definition →Pick and place
A robot operation that picks a part from one location and places it in another.
Definition →Cobot (collaborative robot)
A robot designed to work safely alongside people without hard guarding.
Definition →Industrial robot
A high-speed, high-payload robot usually operated inside guarding.
Definition →SCARA robot
A four-axis robot optimised for fast, planar pick-and-place and assembly.
Definition →Six-axis robot
An articulated robot with six joints, able to reach any position and orientation in its envelope.
Definition →Robot cell
A complete automated workstation built around one or more robots.
Definition →System / cell integrator
A company that designs and builds automated robot cells for end users.
Definition →Tool flange (ISO 9409-1)
The standardised mounting interface at a robot's wrist for attaching EOAT.
Definition →Tool changer
A coupling that lets a robot automatically swap between different EOAT.
Definition →Reach
The maximum distance a robot can extend its wrist from its base.
Definition →Degrees of freedom (DOF)
The number of independent movements a robot or mechanism can make.
Definition →TCP (Tool Center Point)
The reference point at the working tip of the tool that the robot positions.
Definition →Force control
Regulating the force a gripper or robot applies, rather than just position.
Definition →Force limiting
Capping applied force for safety, especially in collaborative applications.
Definition →Mechanical self-locking
A mechanism that holds its position by geometry, without continuous power or air.
Definition →Power-loss safety
The property of keeping a part gripped if electrical or air power is lost.
Definition →Duty cycle
The proportion of time a device can operate before needing rest, or its rate of operation.
Definition →IP rating
A code (e.g. IP54) indicating protection against dust and water ingress.
Definition →Backlash
Lost motion or play in a mechanism before movement transfers.
Definition →Compliance (mechanical)
A controlled flexibility that lets a tool give slightly under load.
Definition →Overhang (lever arm)
The distance a part's mass sits from the gripper, increasing effective load.
Definition →Moment of inertia
A part's resistance to angular acceleration, affecting how fast a robot can move it.
Definition →End effector
Any device at the end of a robot arm that acts on the environment — a synonym scope of EOAT.
Definition →Digital I/O
Simple on/off electrical signals used to command and monitor devices like grippers.
Definition →PLC
A programmable logic controller that coordinates the devices in an automated cell.
Definition →ROI (Return on Investment)
The financial return from an automation investment relative to its cost.
Definition →OEE (Overall Equipment Effectiveness)
A metric combining availability, performance and quality into one score.
Definition →High-mix, low-volume (HMLV)
Production of many different parts in small quantities.
Definition →Flexible automation
Automation designed to adapt quickly to different parts and tasks.
Definition →Lights-out manufacturing
Running production unattended, including overnight, with no operators present.
Definition →Palletizing
Robotic stacking of products or boxes onto pallets for shipping.
Definition →Bin picking
Picking randomly oriented parts from a bin, usually guided by 3D vision.
Definition →Kitting
Assembling a set of different components into a single kit for downstream use.
Definition →Cobot payload
The limited carrying capacity of a collaborative robot, shared by gripper and part.
Definition →Safety-rated monitored stop
A safety function that halts robot motion while monitoring it stays stopped.
Definition →Actuator
A component that converts energy into motion to drive a mechanism such as a gripper.
Definition →Servo motor
A motor with feedback control for precise position, speed and torque.
Definition →Stepper motor
A motor that moves in discrete steps, often used for simple positioning.
Definition →Encoder
A sensor that measures position or motion for feedback control.
Definition →Torque
Rotational force, key to how strongly a motor can drive a gripper or joint.
Definition →Newton (N)
The SI unit of force; roughly the weight of 100 grams on Earth.
Definition →Kilonewton (kN)
One thousand newtons; about 102 kilograms-force.
Definition →Work envelope
The three-dimensional space a robot can reach with its tool.
Definition →Singularity
A robot pose where it loses a degree of freedom and motion becomes unstable.
Definition →Collision detection
A safety function that stops a robot when it senses an unexpected impact.
Definition →Emergency stop (E-stop)
A safety control that immediately halts machine motion.
Definition →Risk assessment
A structured evaluation of hazards required before deploying a robot cell.
Definition →ISO 10218
The core international safety standard for industrial robots.
Definition →ISO/TS 15066
The technical specification for collaborative robot safety.
Definition →Speed and separation monitoring
A collaborative mode that slows or stops a robot as a person approaches.
Definition →Hand guiding
A collaborative mode where an operator moves the robot by hand.
Definition →Power and force limiting
The most common collaborative mode, capping forces to safe levels.
Definition →Double (dual) gripper
Two grippers on one tool, letting a robot hold a finished and a raw part at once.
Definition →Robot wrist
The end of the robot arm where the tool flange and EOAT are mounted.
Definition →Joint (axis)
A powered articulation of a robot that provides one degree of freedom.
Definition →Delta robot
A fast parallel robot used for high-speed light pick-and-place.
Definition →Cartesian robot (gantry)
A robot built from linear axes moving along X, Y and Z.
Definition →Seventh axis
A linear track that moves a robot to extend its reach.
Definition →Machine vision
Camera-based sensing that lets a robot locate and inspect parts.
Definition →3D vision
Vision that captures depth, enabling bin picking and complex localisation.
Definition →Calibration
Aligning a robot's model with reality to improve accuracy.
Definition →Teach pendant
The handheld console used to program and jog a robot.
Definition →Offline programming (OLP)
Creating robot programs in software, away from the live cell.
Definition →Digital twin
A virtual model of a cell used to simulate and optimise it.
Definition →MTBF (Mean Time Between Failures)
The average operating time between failures of a component or cell.
Definition →Takt time
The pace of production needed to meet customer demand.
Definition →Total cost of ownership (TCO)
The full lifetime cost of equipment, beyond its purchase price.
Definition →Compressed air cost
The often-underestimated running cost of pneumatic equipment.
Definition →Chuck
The clamping device on a lathe or machine that holds the workpiece.
Definition →Collet
A precise clamping sleeve for holding round stock or tools.
Definition →Fixture
A device that locates and holds a workpiece during an operation.
Definition →Internal vs external gripping
Gripping a part from inside a bore versus clamping it from the outside.
Definition →Friction grip vs form-fit grip
Holding by surface friction versus by matching the part's shape.
Definition →Part presence sensing
Confirming a part is actually gripped before the robot moves.
Definition →Voyez la préhension flexible en pratique.
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