Patent ID: 9334066
Filing Date: 2016-05-10
CPC Classification: B64F,G01N,Y10S

Claim Text:
1. A mechanism comprising: a plunger housing; a plunger shaft that is supported by and has a range of vertical motion relative to said plunger housing; a rocker pivotably coupled to a distal end of said plunger shaft by a revolute joint, said rocker comprising first and second arms, and first and second follower wheels pivotably coupled to respective distal ends of said first and second arms; an end effector holder attached to or integrally formed with said rocker for rotation therewith; an end effector; and means for coupling said end effector to said end effector holder in a manner that allows said end effector to tilt relative to said end effector holder in any direction in response to forces exerted on said end effector and then urges said end effector toward an untilted position when said forces are removed.