A device for the disconnectable coupling of a support toggle joint of a gripper to the end of a slave arm of a remote manipulator. The arm and toggle joint each have a case in which are located means for transmitting movements to the gripper. The coupling device comprises at least two latches pivotably...http://www.google.fr/patents/US4650388?utm_source=gb-gplus-shareBrevet US4650388 - Disconnectable coupling device for a manipulator wrist
Disconnectable coupling device for a manipulator wrist
