Tool-Changing Mechanism For Robot

Abstract

Tool-changing mechanism for robotic applications effects secure handoff of tool between end effector of robot and yoke in which tool stowed when not in use. Operated in any orientation in normal or low gravitation. Imposes lesser constraints on design of robot and of tool because it is relatively compact and does not require large insertion forces and large actuators needed to produce them. Stored in zero g and survives launch loads.