Flexible sheet end effector for robot

A robotic end effector apparatus for grasping an article using a suction effect, comprising:

• a suction tube having an open lower end;
• a flexible sheet removably mounted on the suction tube adjacent the open lower end;
• and
• a plurality of supporting projections extending downwardly below the flexible sheet and beyond the open lower end of the suction tube, the projections being arranged around the open lower end of the suction tube.

A method of replacing a first flexible gripper sheet of a robotic end effector apparatus for grasping an article using a suction effect, the first flexible gripper sheet having a center opening, the method comprising:

• (a) moving a clamping ring upward against a downward biasing force of a biasing spring to release the first flexible gripper sheet from a clamped engagement between the clamping ring and a mounting flange;
• (b) stretching the center opening of the flexible gripper sheet downward over the mounting flange to remove the first flexible gripper sheet from the apparatus;
• (c) stretching a center opening of a replacement flexible gripper sheet upward over the mounting flange;
• and
• (d) clamping the replacement flexible gripper sheet between the clamping ring and the mounting flange.