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This International Standard focuses on the functionalities of end effectors and concentrates on grasp-type grippers as defined in 4.1.2.1. This International Standard provides terms to describe object handling and terms of functions, structures, and elements of grasp-type grippers. Annex A, which is informative, provides formats for presenting characteristics of grasp-type grippers.This part can be used in the following ways: a) End effector manufacturers can present the characteristics of their products to robot users. b) Robot users can specify the requirements of end effectors they need. c) Robot users can describe the characteristics of the objects to be handled and of handling the objects in their specific robot applications. This International Standard is also applicable to simple handling systems which are not covered by the definition of manipulating industrial robots, such as pick-and-place or master-slave units.