Derivation of Requirements for the Standardization of Robot End-Effector Interfaces

This study aims to establish foundational requirements for standardizing the interface of a robot end-effector by reflecting practical needs identified through industry-driven investigation. Robot end-effectors are essential components of manufacturing robot systems, performing task-specific functions such as gripping, welding, or fastening. Given the diversity of workpieces, process types, and operating environments, the ability to rapidly replace and universally apply these devices is crucial for production flexibility and efficiency. To identify areas in need of standardization, a survey was conducted targeting robot and end-effector manufacturers as well as industrial users. Results consistently highlighted the interface between robots and end-effectors as a key challenge in achieving interoperability and modular integration. Based on these findings, this study focuses on standardizing mechanical, electrical, and communication interfaces. Relevant international standards such as ISO 9409 and ISO/WD 24112, along with domestic group standards, were reviewed to derive component-level technical requirements. Core elements identified include connector types, pin configurations, power and signal transmission methods, electrostatic discharge (ESD) protection, communication protocols (e.g., RS485, IO-Link) and mechanical fastening mechanisms. These interface requirements are organized to ensure compatibility across systems, improve interchangeability, and reduce customization burdens at deployment. This research provides a technical foundation for the development of standardized end-effector interfaces, facilitating future efforts in system modularization, interoperability, and alignment with international norms.