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Robot arm's payload acquiring sequence

With ring in forward position, wires stored, payload grapple enters open end of effector.

Payload grapple inside open end of end effector; wires stored

End effector ring begins to rotate; wires begin to close onto payload grapple.

End effector ring fully rotated; wires closed on payload grapple, centering it and capturing payload

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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