Ivyo bikoresho vy’iherezo vy’amarobo bishirwa mu bwoko butatu: ibikoresho vy’iherezo vy’ubwoko bwa clamp-, ibikoresho vy’iherezo vy’ubwoko bwa suction-, n’ibikorwa vy’iherezo vy’ubwoko bwihariye. Ivyuma vy'iherezo vy'ubwoko bwa Clamp- ni ubwoko bw'iherezo bukoreshwa cane mu nganda. Ahanini bigizwe n’uburyo bwo gutanga n’uburyo bwo gutwara, busa n’uburyo bwo gufata n’ukuboko bworoshe. Zishobora gufata ibintu biciye ku nzira yo gufungura no gufunga y’ukuboko. Suction-type end effectors zikoresha canecane ukunyota kugira ngo zironke ibikoresho, bikaba bituma zishobora gufata ibintu bitobito kandi zigatanga ibikorwa vyinshi. Ivyo bikoresho vy’iherezo vy’umwihariko ni ibikoresho vyikoresha cane bishobora gukora ibikorwa bitandukanye bitagoranye.
