In robotized loading and unloading of machines, many types of working heads are used.
When choosing the type of head, there need to be taken into account: process dynamics, workpiece characteristics, limitations and requirements of the machining device.
Among the most commonly applied heads are used following:
\ two or three finger mechanical heads,
\ mechanical heads with a dedicated gripper,
\ vacuum pneumatic heads,
\ pulse controlled magnetic heads,
\ electromagnetic heads with adjustable holding force,
\ loading systems for machining palettes with fixtures and workpiece,
\ systems for large-size workpieces, built from a set of grippers placed on supporting structures.