1. 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

2. 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.