A TRANSMISSION COUPLING FOR A MANIPULATOR HEAD

摘要

A rapid attachment device for an interchangeable tool for a manipulator head (104) includes a base body (106) connected to the manipulator head and generating means for providing a force for retaining the tool (102). The base body and the tool have respective cooperating abutment surfaces which are kept in contact as a result of the force exerted by the generating means and are adapted to establish the position of the tool relative to the head along a first line of constraint. Constraining members (118,120) are provided for constraining the two degrees of freedom of the tool in a plane substantially perpendicular to the first line of constraint.