Multifunctional end effectors

摘要

A multifunctional end effector includes a quick release finger locking mechanism disposed in each of the pair of fingers which maintains system accuracy and integrity by providing a positive pressure force between the end effector finger and the mating locking plates provided on the tools adapted to cooperate with the end effector. In one embodiment the mating locking plate intrudes into the fingers of the end effector and an alternative embodiment the end effector finger engaging mechanisms grasp and lock on ledges provided on the cooperating mating locking plates.