End of Arm Tooling

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End of Arm Tooling (EOAT) refers to any device that is attached to the end of the robot's arm that allows the robot to interact with parts in the environment and assists in the completion of a task. End of arm tooling may vary greatly between applications depending on the parts being handled and the actions the robot is required to perform. Rethink Robotics offers two different types of EOAT (specifically grippers): and electric parallel gripper and a vacuum gripper. Custom end of arm tooling can also be attached to the robot.

The information provided on and linked from this page will describe how to attach and configure different End of Arm Tooling. EOAT must be properly installed and configured within the robot in order to ensure maximized performance and repeatability.

Tool Plate Dimensions


The Sawyer robot's end of arm is designed per the ISO 9409-1-40-4-M6 standard bolt pattern. An Adapter Tool Plate can be added to the robot in order to allow for the attachment of standard Rethink Robotics grippers. The images below show the standard Sawyer Tool plate as well as the adapter for standard Rethink Robotics Grippers.

Sawyer Tool Plates.png

Standard Tool Plate Dimensions

Tool Plate Dimensions.png

Adapter Tool Plate with 4 bolts weighs 155g.


The Baxter robot's end of arm is designed for mounting of the standard Rethink Robotics grippers (see below), but custom end of arm tooling can also be designed and attached to the Baxter robot. For more information, see the dimensions below as well as the information on the Custom End of Arm Tooling page.

Baxter Tool Plate Dimensions

Baxter Tool Plate Drawing.png <headertabs/>

Rethink Robotics Grippers


Rethink Robotics offers two different types of grippers that are designed to communicate with robots in the Rethink Robotics Family to allow for picks and places to be created. The two available options are the electric parallel gripper and the vacuum suction cup gripper. Instructions for unpacking and installing the two different standard grippers are located inside the gripper packaging, but this information can also be found below in the pages linked below.

Install & Configure End of Arm Tooling

Follow the instructions on the pages linked below to unpack, install, and configure gripper standard Rethink Robotics grippers.

Electric Parallel Grippers:

Electric Parallel Gripper Configuration

Electric Parallel Gripper Installation

Vacuum (Suction) Grippers:

Vacuum Gripper Configuration

Vacuum Gripper Installation

Vacuum Array Pack: The vacuum array pack includes extra suction cups, mounting brackets and other parts that can be used to build a custom vacuum end effector around the standard Rethink Robotics Vacuum Platform. Open the link below to view the guide that is included with the Vacuum Array Pack.

Vacuum Array Pack Guide

Custom End of Arm Tooling

Custom end effectors (pneumatically actuated end effectors, glue guns, cameras, etc.) may be required to complete specific applications. For these types of applications, custom end effectors can be designed to mount to the end of the robot's arm and actuated using external I/O.. See the Custom End of Arm Tooling page for more information.

Additionally, in some cases, pneumatic grippers designed to use an M8 NPN sensor may be able to be recognized by the Intera software as a parallel gripper and utilize Pick and Place functionality. These can be connected by interfacing with the Rethink pneumatic gripper cable (sold separately). See Pneumatic Parallel Grippers.

Next Steps

Run your First Task