| 摘要 |
Methods and apparatus for exchanging the end effectors of apparatus for handling objects, such as robotic manipulators are disclosed. A compliant tool depository is used in conjunction with a tool holder to perform the end effector exchange. The present invention utilizes the motive force provided by the end effector actuation to execute the sequence required for end effector exchange. A bi-stable latch is provided which minimizes the force required to latch and unlatch the end effectors, thereby providing an end effector exchange mechanism useful in small laboratory robots possessing small operating forces. The tool depository design also adds to the positional forgiveness of the apparatus, allowing the robotic arm and the depository to be aligned with a lesser degree of precision than might otherwise be required.
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