For this specific purpose, PES has developed a modular EOAT solution based on its magnetic gripper product line.
The EOAT is made up of two different modularity levels.
The first one is the antenna that includes a quick coupling mechanism with integrated connectors and fittings to transfer pressurized air and some electrical signal to the tools hanged on the antenna. The antenna aims at bringing powerful gripping magnets on the EOAT and set up a gripper with coplanar gripping means and that can be more or less wide depending on the antenna you install. Then the second modularity level aims at adapting this "simple geometry" EOAT to the target part by adding some purely passive components, that is, the magnet pole shoes. The latter are carbon steel machined parts that can be shaped to the geometry of the target part.
This way, PES gives the maximum flexibility to this secondary modularity level that is compact, reliable and cost-effective.