DIN EN ISO 14539:2002-12

Foreword
Introduction
1 Scope
2 Terms and definitions
3 Vocabulary of object handling
  3.1 Type of handling
  3.2 Grasps
  3.3 Coordinate systems in object handling
  3.4 Sensing in object handling
4 Vocabulary of grasp-type grippers
  4.1 Type of end effectors
  4.2 Elements and mechanisms of grasp-type grippers
  4.3 Type of grasp-type grippers
  4.4 Type of fingers
  4.5 Finger control
  4.6 Clamping elements
  4.7 Robot interfaces
  4.8 Safety in grasps and grasping
Annex A (normative) - Formats for the presentation of gripper
        characteristics
Alphabetical index

Defines the functionalities of end effectors and concentrates on grasp-type grippers and provides terms to describe object handling and terms of functions, structures, and elements of grasp-type grippers.