Wrist Interface Prototype Pictures

Canoe Ball and Groove Coupling

Plate Prototypes for Arm Side of Coupling

arm_sideview.jpg	arm_coupling_interface_1.jpg	arm_coupling_interface_2.jpg
arm_interface_to_wrist.jpg	arm_groove.jpg	arm_control_pin.jpg

Plate Prototypes for Wrist Side of Coupling

wrist_coupling_interface.jpg

wrist_interface_to_arm.jpg

wrist_canoe_ball.jpg

wrist_bolthole.jpg

Prototypes in Coupled Position

coupled_arm_side.jpg	coupled_wrist_side.jpg	coupled_exploded_1.jpg
coupled_exploded_2.jpg	coupled_ball_groove.jpg	coupled_wing.jpg

Three Pin Coupling

Plate Prototypes for Arm Side of Coupling

arm_sideview.jpg	arm_3pin_interface.jpg	arm_pintabs.jpg
arm_pin.jpg	arm_interface.jpg	arm_tab_insets.jpg

Plate Prototypes for Wrist Side of Coupling

wrist_3pin_interface.jpg	wrist_slot_holes_for_pintabs.jpg	wrist_slot_hole_for_pintabs.jpg
wrist_preload_bolt_hole.jpg	wrist_recessed_bolt_holes.jpg	wrist_hole_for_third_pin.jpg
wrist_interface.jpg	wrist_interface_zoom.jpg	wrist_pin_and_offset_for_preload_bolt.jpg

Prototypes in Coupled Position

coupled_sideview.jpg	coupled_no_preload.jpg	coupled_with_small_gap.jpg
coupled_pintab_in_slot.jpg	coupled_pintab_into_slot.jpg	coupled_pin_into_slot.jpg
coupled_pin_into_slot_2.jpg	coupled_hex_wrench_no_preload.jpg	coupled_hex_wrench_preloaded.jpg

Demonstration and Details of Coupling Actuation

demo_top_view.jpg	demo_no_preloaded.jpg	demo_pintab_in_slot.jpg
demo_preloaded.jpg	demo_preloaded_top_view.jpg

Movies

demo_entire_part_moving.mpg

demo_preload_applicaton.mpg

demo_pintabs_moving_into_slots.mpg

demo_free_play_in_nonpreloaded_coupling.mpg