Disclosed are mechanical interfaces of an end-of-arm-tool (EOAT) and part-gripping devices. The EOAT mechanical interface is for operatively coupling a gripper actuator to the part-gripping device. The part-gripping device mechanical interface is matable to the EOAT mechanical interface for operatively coupling the EOAT to the part-gripping device. Among other improvements, also disclosed are improved gripper fingers.

A tool stocker for holding a tool is equipped with a stocker-inclining member that inclines the tool stocker and also equipped with a mechanism that adjusts an attaching/detaching position at which an interchangeable tool is attached to and detached from a robot arm. The attaching/detaching position can be adjusted by using the tool stocker so as to fit moving paths of the robot arm appropriately.

A gripper includes a palm module configured such that finger modules of different forms are detachably couplable to the palm module, a plurality of finger modules detachably coupled to the palm module, a linear actuator configured to adjust a distance between the plurality of finger modules that are detachably coupled to the palm module, and a plurality of rotation actuators between the linear actuator and the plurality of finger modules, the plurality of rotation actuators configured to respectively rotate the plurality of finger modules about respective first rotation axes extending in a first direction from the palm module toward the plurality of rotation actuators.

Disclosed herein are fingers for gripper assemblies. The finger includes a gripper pad. The finger includes a mirror panel facing the gripper pad. The finger includes a first window extending between the gripper pad and the mirror panel. The finger includes a camera oriented to collect image data that includes a reflected view of gripper pad from the mirror and a view through the first window.