Patent ID: 7300082

Claim:
An end effector adapted to grip a peripheral edge of a workpiece, comprising: a workpiece blade for supporting a workpiece; a first gripper arm operatively mounted to said workpiece blade, said first gripper arm including a first contact pad and first load sensing device for generating electrical signals representing the amount of force said first contact pad is exerting on the workpiece; a second gripper arm operatively mounted to said workpiece blade, said second gripper arm having a second contact pad and a second load sensing device for generating electrical signals representing the amount of force said second contact pad is exerting on the workpiece, wherein said first gripper arm and said second gripper arm each include a proximal end and a distal end, said proximal end of said first gripper arm and said second gripper arm are each rotatably connected to a proximal end of said workpiece blade; a motor assembly for moving said first and second gripper arms between a workpiece-loading position and a workpiece-engaging position; and a processor for receiving said electrical signals from said first load sensing device and said second load sensing device and controlling the drive current supplied to said motor assembly, enabling said processor to continually adjust the force said first contact pad and said second contact pad exerts on the workpiece.