| Robot arm's payload acquiring sequence |
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With ring in forward position, wires stored, payload grapple enters
open end of effector. |
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Payload grapple inside open end of end effector; wires stored |
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End effector ring begins to rotate; wires begin to close onto payload
grapple. |
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End effector ring fully rotated; wires closed on payload grapple, centering
it and capturing payload |
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Operation of ball screw and nut withdraws wires, pulling payload into
full contact and keyed orientation; further operation tensions wires to
rigidize contact. |
| Last Updated : March 28, 2000 |
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