End effector

An end effector, which is used for peeling off release paper and can be connected to a robot arm, is provided with: a frame body provided with a guide groove having a start position S, a midway position M, and an end position E; and a rotating unit provided with a needle and a first support portion capable of moving along the guide groove. When a line segment connecting the start position S and the midway position M is defined as a line segment SM, a line segment connecting the midway position M and the end position E is defined as a line segment ME, and an angle formed between the line segment SM and a horizontal direction when the end effector is placed on the ground is defined as [theta] 1, [theta] 1 is greater than [theta] 2. When the angle formed between the line segment SM and the line segment ME is theta2, theta1 < theta2 < theta1 + 180 degrees is satisfied. 用于揭去剥离纸的、能够与机械臂连接的末端执行器具备：框体，其具备引导槽，该引导槽具有开始位置S、中途位置M及结束位置E；以及旋转单元，其具备针和能够沿着所述引导槽移动的第一支承部。当将连结所述开始位置S和所述中途位置M的线段设为线段SM、将连结所述中途位置M和所述结束位置E的线段设为线段ME