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DraftS05-CON-011v0.1Source imported
Section 33 of 55
32. End-Effector Compatibility
Stable section ID: S05-CON-011-SECTION-33 · 39 content blocks
System05 shall define End-Effector Compatibility Classes so that different robots may use qualified tools without redesigning building components.
An End-Effector Manifest should declare:
- Tool identity.
- Manufacturer and version.
- Tool class.
- Mechanical coupling.
- Tool Center Point.
- Mass.
- Center of mass.
- Payload capacity.
- Moment capacity.
- Grip or actuation range.
- Positioning accuracy.
- Force and torque limits.
- Power requirements.
- Data protocol.
- Fluid requirements.
- Environmental rating.
- Sensing capabilities.
- Safety functions.
- Calibration status.
- Compatible Interface profiles.
- Known limitations.
End effectors may include:
- Parallel grippers.
- Adaptive grippers.
- Vacuum tools.
- Magnetic tools.
- Lifting frames.
- Forks.
- Torque tools.
- Fastener tools.
- Cutting tools.
- Sealant applicators.
- Inspection probes.
- Scanners.
- Cleaning and maintenance tools.
Compatibility shall include the complete task, not merely physical attachment to the robot. Reach, payload, visibility, collision geometry, cable routing, control integration, and safe failure behavior shall also be evaluated.
Unidentified, expired, damaged, or uncalibrated tools shall not be used for consequential operations.