| abstract |
A wrist assembly is provided for securing an end effector to a robotic arm. The wrist assembly comprises a first portion ( 205, 207 ) containing a slot for releasably engaging an end effector ( 231 ), and a second portion ( 203 ) which is attached to the first portion. The orientation of the first portion with respect to the second portion is adjustable to impart a leveling effect to the end effector. |