A cobot without an end effector is an expensive paperweight. The robot arm provides reach, payload capacity, and repeatability. The gripper provides the ability to actually do something useful. Yet end effectors are frequently an afterthought in the purchasing process, with buyers spending weeks evaluating robot brands and then grabbing the first compatible gripper they find.
This guide covers what you need to know before choosing a gripper, which brands dominate the UK market, and what to expect to pay for both new and used end effectors.
> Quick Answer: Two-finger parallel grippers are the most common gripper type for cobots. Robotiq (2F-85, 2F-140, Hand-E) dominates UR applications; OnRobot (RG2, RG6) covers multiple robot brands. New grippers cost £1,500-£5,000 depending on type and capability. Used grippers sell at 40-60% below new list price. For most pick-and-place applications, a used Robotiq 2F-85 in good condition at £600-£900 is the most cost-effective starting point.
What is a Robot End Effector?
An end effector is any device mounted to the tool flange at the end of a robot arm. The term covers:
- Grippers -- mechanical devices that grasp objects through finger contact
- Vacuum cup assemblies -- devices that grip smooth surfaces through suction
- Magnetic grippers -- used for ferrous metal handling
- Welding torches -- for robotic welding applications
- Dispense and glue heads -- for adhesive application
- Screwdrivers and nut runners -- for automated assembly
- Force/torque sensors -- used with grippers for force-sensitive assembly
This guide focuses primarily on grippers and vacuum systems, which are the most common end effectors in collaborative robot deployments. For welding and dispensing tooling, contact specialist integrators directly.
Gripper Types Explained
Two-Finger Parallel Grippers
The workhorse of industrial automation. Two opposing fingers move inward and outward on a linear track. Objects are gripped by their sides, either externally (fingers wrap around the outside) or internally (fingers push outward against an inner bore).
Best for: Prismatic parts with consistent geometry -- cylinders, boxes, bottles, connectors, PCBs, metal billets.
Limitations: Struggle with highly irregular shapes, very large parts near the maximum jaw opening, and anything requiring three-axis grip stability.
Leading brands: Robotiq (2F-85, 2F-140), OnRobot (RG2, RG6), Schunk (EGP, EGH series), SMC, Zimmer.
Three-Finger and Adaptive Grippers
Multiple fingers that can move independently, allowing the gripper to conform to irregular part geometries. Some designs combine two-finger and three-finger modes in a single device.
Best for: Cylindrical objects of varying diameter, irregular castings, consumer products, food items, produce.
Leading brand: Robotiq Hand-E is the primary adaptive gripper in the cobot market.
Vacuum Grippers
A suction cup or array of suction cups connected to a vacuum generator. The vacuum draws the cup against a flat or slightly curved surface, holding the part without mechanical contact.
Best for: Sheet metal, glass, cardboard, large flat plastic panels, circuit boards, packaging.
Limitations: Cannot grip porous materials, heavily textured surfaces, or parts that cannot withstand the vacuum pressure.
Leading brands: Schmalz (most widely used in European industrial applications), Piab, OnRobot VGP20/VGC10, Festo.
Magnetic Grippers
Use permanent magnets or electromagnets to hold ferrous metal parts. Electromagnets allow part release via power switching; permanent magnets require mechanical force to disengage.
Best for: Steel plate, ferrous stampings, machine components, any situation where vacuum would be unreliable on a metal surface.
Leading brands: Schmalz, Magswitch, EMI.
Soft Grippers
Inflatable silicone or fabric fingers that conform to the shape of an object under air pressure. Used in food handling, pharmaceutical applications, and anywhere where zero surface marking is critical.
Best for: Delicate produce, round food items, curved glass, medical components.
Leading brands: OnRobot Soft Gripper, FESTO Bionic Soft Hand (research-oriented), Soft Robotics.
Major Brands in the UK Market
Robotiq
The dominant end effector brand for Universal Robots installations. Robotiq's UR+ certification means grippers connect directly to the UR controller USB port and appear as native UR peripherals. No separate control box required.
The 2F-85 is the single most common cobot gripper in the UK used market. The 2F-140 is its wider-opening sibling. The Hand-E is an adaptive precision gripper for assembly tasks.
Robotiq grippers are also compatible with FANUC, KUKA, ABB, and Yaskawa robots but require an external control box (the Robotiq Communication Interface) in those applications.
OnRobot
OnRobot targets multi-brand compatibility as its primary differentiator. Their grippers, force-torque sensors, and tool changers connect to a wide range of robot brands through a standardised mechanical and electrical interface. Popular in UK integrations involving ABB, Doosan, and FANUC cobots where Robotiq's UR-first approach is less relevant.
Key products: RG2 (2 kg, 110 mm stroke), RG6 (6 kg, 160 mm stroke), VGP20 (vacuum gripper), 2FG7 (precision parallel), HEX force-torque sensor series.
Schunk
German manufacturer with the broadest catalogue of end effectors in the market. The Co-act range covers cobots specifically; the larger EGP/EGH/EGL series covers heavy-duty industrial arms. Schunk also manufacture the leading tool change systems used in multi-gripper installations.
Less plug-and-play than Robotiq or OnRobot for first-time deployments, but preferred by experienced integrators who need precise control and extensive customisation options.
Schmalz
The leading vacuum specialist. Schmalz components are found in virtually every European packaging and materials handling line. Their cobot-specific products include the FXCB (UR+ certified) and a range of vacuum generators, cup mounts, and check valves for custom vacuum assemblies.
Matching Gripper to Application
The right gripper is determined by the object you are handling, not by the robot brand.
Work out the object's grip geometry first. If the part has two flat parallel faces and a consistent width between 10 mm and 85 mm, a 2F-85 is almost certainly adequate. If the object is a cylinder of unknown diameter or an irregular casting, an adaptive gripper or custom jaw is required.
Calculate grip force requirements. Grip force must exceed the product of the part weight multiplied by the combined gravitational and acceleration forces during the move cycle, plus a safety factor. Most application engineers use a factor of three to four times the dynamic load. A 1 kg part in a fast pick-and-place cycle generating 2g of acceleration needs approximately 8-10 N of grip force at minimum; practical grippers operating at 40-50 N are well within safe limits.
Check the payload budget. The gripper's weight reduces the effective payload available for the part. A Robotiq 2F-85 weighs 0.9 kg. Mounted on a UR5e (5 kg payload), that leaves 4.1 kg for the part. Always subtract gripper weight from cobot payload before calculating what you can lift.
Consider IP rating for wet or dusty environments. Most standard grippers are IP40 to IP54. If the application involves wash-down, coolant, or dust, confirm IP67 or better. Robotiq and OnRobot both offer protected variants.
Used Gripper Prices: UK Market 2026
Used grippers are common in the UK market because they are typically replaced when a production line changes, not because they have failed. A gripper decommissioned from a line change in good working order is functionally identical to a new unit.
| Gripper | Type | New Price (approx.) | Used Price Range (UK) |
|---|---|---|---|
| Robotiq 2F-85 | 2-finger parallel | £1,800 | £600-£1,000 |
| Robotiq 2F-140 | 2-finger parallel (wide) | £1,900 | £650-£1,100 |
| Robotiq Hand-E | Adaptive parallel | £3,800 | £1,400-£2,200 |
| OnRobot RG2 | 2-finger parallel | £1,500 | £500-£900 |
| OnRobot RG6 | 2-finger parallel (heavy) | £2,000 | £700-£1,200 |
| OnRobot VGP20 | Vacuum | £2,200 | £800-£1,400 |
| Schunk Co-act EGP-C 40 | 2-finger parallel | £1,600 | £500-£900 |
| Schmalz FXCB-U | Vacuum (UR+) | £1,200 | £400-£700 |
Grippers are frequently bundled with used cobot sales. When buying a secondhand UR5e or UR10e, always ask whether the seller includes the gripper, URCap configuration, jaw sets, and cabling. A complete package with controller, teach pendant, and gripper is worth significantly more than a bare arm, and sellers often do not fully price this in.
Inspecting a Used Gripper Before Purchase
Functional check: Connect the gripper to a robot or to a direct USB power supply and run full open and close cycles at both maximum and minimum jaw positions. Both directions should be smooth and silent. Any grinding, skipping, or hesitation indicates actuator wear.
Jaw pad condition: On Robotiq grippers, the rubber jaw pads are wear items. Check for tears, deep compression marks, or uneven wear. Replacement pads cost approximately £30-£60 per set directly from Robotiq.
Cable condition: Inspect the communication cable and connector at both the gripper end and the robot flange end. Bent pins or damaged insulation are common failure points from repeated cable flex cycles.
Force calibration: Request a force-torque calibration report if the gripper was used in force-sensitive assembly. Grippers that have been subjected to crash loads (the robot arm hitting an unexpected obstacle with the gripper fitted) may have permanently bent jaw guides.
Integrating a Gripper with Your Cobot
Universal Robots: Robotiq grippers use URCap software, installed directly on the UR controller. Once the URCap is installed, the gripper appears as a native device in PolyScope. OnRobot and Schunk grippers follow the same URCap architecture. Installation takes approximately 20 minutes for an experienced operator.
FANUC: Robotiq grippers require the Robotiq Communication Interface control box alongside the robot controller. The interface communicates via Ethernet or PROFINET. OnRobot's ComputeBox serves the same function for OnRobot products on FANUC and other non-UR robots.
ABB: OnRobot grippers are particularly well supported on ABB cobots (GoFa, YuMi) through the OnRobot ComputeBox and ABB's Smart Gripper interface.
Doosan: Doosan's Dart Platform is compatible with a range of third-party grippers including Robotiq and OnRobot. Doosan also manufactures their own two-finger parallel gripper.
Where to Buy Used Robot Grippers in the UK
Robot AutoTrader lists used grippers and end effectors alongside cobot listings throughout the UK. Grippers are also available through:
- UK-based cobot refurbishers (frequently bundle grippers with arms)
- Industrial liquidation auctions (check i-bidder and BidSpotter for engineering plant sales)
- Direct business-to-business sales from manufacturers redeploying production lines
When buying standalone grippers from an auction, verify the communication protocol version is compatible with your controller software version. Older URCap firmware versions have known compatibility issues with more recent UR software releases; both Robotiq and OnRobot publish compatibility matrices on their support portals.
For new grippers, both Robotiq and OnRobot maintain UK distribution through their own online stores and authorised resellers. Lead times for standard products are typically one to two weeks.
Interested in the cobot that goes with your gripper? Browse used cobots available in the UK or read our used cobot price guide to understand what to pay for the arm itself.