Quick answer
- Choose pneumatic for: fast cycle times, heavy gripping force, low unit cost, existing compressed air supply — machine tending, heavy palletizing
- Choose electric for: no compressed air available, programmable force or stroke, clean rooms, fragile parts, cobots without air supply — assembly, food handling, electronics
- Price: pneumatic grippers from $200–$2,000; electric from $800–$5,000
- Pneumatic grippers are approximately 3–5× faster to actuate than electric at comparable force levels
Side-by-side comparison
| Factor | Pneumatic gripper | Electric gripper |
|---|---|---|
| Actuation speed | Fast (0.05–0.3 s close/open) | Slower (0.3–1.5 s close/open) |
| Grip force | High; fixed by pressure setting | Programmable; lower maximum than pneumatic at same size |
| Force control | Approximate (pressure regulator) | Precise (closed-loop motor control) |
| Stroke (jaw travel) | Fixed by hardware | Programmable stroke within range |
| Position feedback | Magnetic reed switches (open/closed only) | Full position encoder; part size detection |
| Compressed air required | Yes (typically 5–7 bar) | No (24V DC) |
| Unit cost | $200–$2,000 | $800–$5,000 |
| Noise | Air exhaust noise on actuation | Silent |
| Cleanroom suitability | Poor (air exhaust creates particulates) | Good (sealed electric motor; ISO cleanroom versions) |
| Fail-safe on power loss | Spring-return can hold part (spring-close design) | Holds position on power loss (if brake included) |
| Payload capacity | Up to 500+ N grip force | Up to 200 N typical; some to 400 N |
| Integration complexity | Simple (solenoid valve + 2 wires) | More complex (fieldbus, I/O module, or USB) |
Pneumatic grippers: strengths and weaknesses
A pneumatic parallel gripper uses compressed air to drive two jaws toward each other (close) or apart (open). A solenoid valve controls the air direction; the robot's digital output triggers the valve. Actuation is fast (50–300 ms) and grip force is high relative to gripper size.
Strengths:
- Speed: Fastest actuation of any gripper type. For high-cycle pick-and-place (60+ cycles/min), pneumatic is the standard choice.
- Grip force: Air-driven grippers generate high clamping forces relative to their size. A 50 mm jaw width pneumatic gripper typically generates 150–400 N grip force.
- Cost: Off-the-shelf pneumatic grippers are inexpensive — $200–$800 for standard parallel grippers from SMC, Festo, or Schunk. Custom jaw fingers add $500–$3,000.
- Proven reliability: Simple mechanical design; millions of cycles with correct maintenance.
Weaknesses:
- Requires compressed air: If the robot cell doesn't have compressed air, adding a compressor adds $1,000–$5,000 and ongoing energy cost.
- Noise: Air exhaust on every cycle creates noise. In office or quiet environments this may be unacceptable.
- Fixed stroke: The jaw travel distance is set by hardware — different part sizes may require different grippers or custom jaw sets.
- Limited force feedback: Only magnetic switches confirming open/closed state; no intermediate position sensing or force measurement.
Electric grippers: strengths and weaknesses
An electric parallel gripper uses a servo motor to drive the jaws. The motor's current is controlled to regulate grip force; position is measured by an encoder. The gripper connects to the robot controller via a fieldbus (EtherCAT, Profinet, Modbus) or a simplified I/O module.
Strengths:
- Programmable force: Grip force can be set precisely in software — useful for fragile parts (10–30 N for delicate electronics) or for detecting when a part is present by monitoring the force at a target position.
- Programmable stroke: The jaw opening can be set to any position within the travel range. One gripper handles multiple part sizes by changing the target position in the program — particularly valuable for high-mix applications.
- Part detection: By commanding the gripper to close to a given position and monitoring where it stopped, the robot can confirm part presence and estimate part size — without a separate sensor.
- No compressed air: Runs on 24V DC from the robot or a power supply. Suitable for cobots without compressed air supply.
- Silent: No air exhaust noise. Suitable for noise-sensitive environments.
- Clean room versions: Major vendors (Robotiq, OnRobot, Schunk) offer electric grippers with sealed motors and minimal particle generation for ISO 5–7 clean room use.
Weaknesses:
- Slower actuation: Motor-driven actuation takes 300–1,500 ms — 3–10× slower than pneumatic. For high-speed cycles, this is a measurable bottleneck.
- Lower maximum grip force at equivalent size: most electric grippers top out at 150–200 N grip force, compared to 400+ N for pneumatic at the same jaw width.
- Higher cost: $800–$5,000 for standard electric grippers; 3–5× more than equivalent pneumatic.
- More complex integration: Fieldbus communication requires additional configuration; less "plug-and-play" than a solenoid valve for pneumatic.
Cost comparison
| Cost item | Pneumatic gripper system | Electric gripper system |
|---|---|---|
| Gripper unit | $200–$2,000 | $800–$5,000 |
| Custom jaw fingers | $500–$3,000 | $500–$3,000 (same) |
| Solenoid valve + fittings | $150–$400 | Not required |
| Fieldbus module/I/O card | Not required (2 DI/DO signals) | $200–$500 (if fieldbus required) |
| Compressed air supply (if not present) | $1,000–$5,000 | Not required |
| Energy cost (annual, 2-shift) | ~$100–$300/year (compressor load) | ~$20–$80/year (motor power) |
If compressed air is already available at the cell, pneumatic wins on first cost. If compressed air is not available, the cost gap narrows significantly.
Decision guide
Choose pneumatic if:
- Cycle time is critical (>30 cycles/min)
- Parts are heavy (>10 kg grip force needed)
- Compressed air is already available
- Budget is tight (lowest first cost)
- Parts are consistent in size (no programmable stroke needed)
- Simple open/close logic (no force feedback required)
Choose electric if:
- No compressed air supply at the robot cell
- Parts are fragile (precise force control needed)
- High-mix application (multiple part sizes, one gripper)
- Cleanroom or food-safe environment required
- Part detection via gripper position is valuable
- Noise reduction is important
Key vendors (2026)
| Vendor | Type | Notable models | Notes |
|---|---|---|---|
| Robotiq | Electric | 2F-85, 2F-140, Hand-E | UR-native integration; widest stroke range; strong on cobots |
| OnRobot | Electric | 2FG7, RG2, RG6 | Multi-robot support; quick-change wrist coupling |
| Schunk | Both | EGK (electric), PGN (pneumatic) | German; high-quality; broad payload range; preferred in automotive |
| SMC | Pneumatic | MHZ2, MHF2 series | Very wide range; low cost; global availability; OEM standard |
| Festo | Pneumatic + electric | DHWS (pneumatic), EHPS (electric) | Strong in clean room; IO-Link versions available |
| PHD | Pneumatic | Grippers series | US-based; strong for custom jaw work and machine tending |
CobotFloor is not affiliated with any vendor listed. Costs are approximate as of September 2026.
Frequently asked questions
Can I use a pneumatic gripper on a cobot with no compressed air?
Yes, using a small on-board pneumatic generator or by running a compressed air line to the cobot cell. Some integrators use a miniature compressor mounted near the robot pedestal, adding $800–$2,000. Alternatively, some gripper vendors offer their pneumatic grippers with an integrated electric-powered venturi or pump module — effectively giving pneumatic actuation without a central air supply. This is more expensive than a standard pneumatic gripper but allows pneumatic-speed actuation in air-free environments.
What is "part detection" in an electric gripper?
Electric grippers with position feedback can detect parts by monitoring where the jaws stop closing. If you command the gripper to close fully (e.g., to 0 mm position) and it stops at 45 mm, the robot knows a part of approximately 45 mm diameter is gripped. If it closes fully without stopping, no part was picked. This feature eliminates the need for a separate presence sensor in many applications, simplifying the cell. The gripper can also estimate if the wrong part size was presented (jaws stop at an unexpected position), enabling simple quality checking.
How do I calculate the grip force I need?
Minimum grip force = m × (g + a) × safety_factor / µ, where m is part mass (kg), g is 9.81 m/s², a is robot acceleration (m/s²), SF is safety factor (≥2.0), and µ is the friction coefficient between jaw fingers and part material. For machined aluminium on steel jaws, µ ≈ 0.15–0.25; for rubber pads on smooth metal, µ ≈ 0.3–0.5. A 5 kg part with 4 m/s² acceleration, SF 2.0, and µ 0.2: force = 5 × (9.81 + 4) × 2 / 0.2 = 690 N. This requires a high-capacity pneumatic gripper, not a standard electric one — a useful reminder that grip force calculations matter.
Sources
- Robotiq gripper selection guide, robotiq.com, accessed September 2026
- Schunk gripper catalogue 2025, schunk.com, accessed September 2026
- SMC pneumatic gripper technical data, smcusa.com, accessed September 2026
- OnRobot gripper specifications, onrobot.com, accessed September 2026