L2-ROB-TOOL
ESSENTIAL
ROBOTICS
Level 2 · hardware
Robotic End Effectors and Tools
Robotic End Effector and Tool Library
Interchangeable grippers, drills, welders, sensors, and specialized tools for robot fleet
Purpose
Provide task-specific capabilities to robot platforms through modular end effectors
Context
Component of L1-ROB within the Lunar Ark system
Principles
- ▸Standardized tool change interface enables rapid tool swapping
- ▸Compliant grippers adapt to irregular shapes without damage
- ▸Powered tools (drills, torque wrenches) enable fastener and cutting operations
- ▸Tool storage and tracking ensures availability for scheduled tasks
Typical implementations
- ▸ISS Robot Micro Conical Tool (RMCT) interface standard
- ▸ATI Industrial Automation automatic tool changers
- ▸Robonaut 2 task-specific end effectors (multiple tool types)
- ▸KUKA robotic welding and machining tool systems
Lunar considerations
- ▸Tools must function in vacuum with solid lubricants only
- ▸Dust abrasion on tool surfaces reduces precision over time
- ▸ISRU manufacturing can potentially produce replacement tools
- ▸Tool inventory must cover all anticipated maintenance scenarios for 100 years
Specifications
Functional
| primary function | Provide task-specific capabilities to robot platforms through modular end effectors |
Operational
| thermal range c | -173, 127 |
| lifetime years | 100 |
Interfaces
Provides
- Task-specific tools for repair operations
- End effectors for fixed manipulator arms
Requires
- Replacement tool manufacturing capability
- Tool storage and retrieval at dock stations
Decomposes into
L3-ROB-TOOL-GRIP
Gripper Tools
Standardised gripper tool family (parallel, three-finger, vacuum, magnetic) for various manipulation tasks.
L3-ROB-TOOL-FAST
Fastener Tools
Robotic wrench and driver tools for installing and removing bolts, screws, and other fasteners during maintenance.
L3-ROB-TOOL-CUT
Cutting Tools
Robotic cutting tools (wire-EDM, plasma, mechanical saw) for material separation during disassembly and repair.
L3-ROB-TOOL-WELD
Welding Tools
Robotic welding tools (TIG, laser) for joining and repair operations on metal components.
L3-ROB-TOOL-CHG
Quick-Change Tool Coupler
Standardised quick-change tool coupler at the end of L3-ROB-MANIP-ARM enabling rapid tool swaps without operator interve
Cite this entry
Lunar Ark Codex. "Robotic End Effectors and Tools" (L2-ROB-TOOL). Retrieved 10 September 2026, from https://lunarark.com/entry/L2-ROB-TOOL
Licensed CC-BY-SA 4.0. You may reuse and adapt this entry with attribution, under the same licence.