---
publication_id: "OT-2026-000002976"
title: "End effector and robot having an end effector"
published_at: "2026-09-15T19:16:30.630950Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002976"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j11/0095"
  - "b25j11/0095"
  - "b25j11/0095"
  - "b25j11/0095"
  - "b25j11/00"
  - "b25j15/00"
---

# End effector and robot having an end effector

## Abstract

An end effector is described which is suitable for handling both wafers and wafer cassettes. The end effector has a first gripping unit configured to pick up and hold individual wafers and a second gripping unit configured to pick up and hold a wafer cassette, wherein the first and second gripping units are connected to each other in such a way that they can be attached to a common robot arm and that they are arranged at an angle to each other so that they do not interfere with each other during operation.