The end effector

PROBLEM TO BE SOLVED: To provide an end effector capable of gripping both a hole and the outer periphery that are a part external shape by a set of gripping claws in accordance with a part of a different bulked attitude in a part box, and also relieving impact to a gripping mechanism and a robot even when abutting on the part box.SOLUTION: An end effector comprises a gripping claw 7 for gripping a part, a gripping mechanism having a chuck opening/closing mechanism 20 for opening and closing the gripping claw and a compliance device for exhibiting a compliance property, and in the end effector, the gripping claw is formed in a tapering-off shape toward a tip part. An outer peripheral surface 34 except for an opposed surface of a first claw piece 7a and a second claw piece 7b of the tip part is formed in a substantially hemispherical shape, and an inner flange part 30 is formed in a lower end part of the opposed surface of the first claw piece and the second claw piece. A recessed part is formed on one side of the opposed surface of its inner flange part, and a projection part is also formed on the other side. An outer flange part 31 is formed on the outer peripheral surface side on the opposite side of an inner jaw part of the first claw piece and the second claw piece, and an adapter 8 is interposed for connecting the chuck opening/closing mechanism and the gripping claw.SELECTED DRAWING: Figure 5