Initial Design for Canoe Balls and Grooves on Wrist Interface plates have negative features to contact surface (ie. arm plate has wrist features) Plates are 30mm thick One bolt of two used to secure plate while other bolt is longer to secure assembly Tabs added to outside to hold large balls and grooves Design only prototype to use large items, later will have smaller size to fit in wrist area with plates in kit or without plates for permanent use Preload by separate bolts Grey – Robot Arm Orange – Arm Interface Plate Green – Canoe Balls Blue – Grooves Red – Wrist Interface Plate Yellow – Preload Bolts Not Shown - Wrist

Exploded View of Assembly Short dashes show explosion of grooves and balls Long dashes show bolts to fix arm interface plate to arm Coupling center is 20mm higher than center of wrist and arm interface Yellow preload bolts pass through arm interface plate, canoe balls, and grooves. Bolts thread into holes on wrist plate.