Patent Publication Number: US-9429187-B2

Title: Modular tooling apparatus having serrated teeth for orbital and linear adjustment

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of U.S. patent application Ser. No. 13/796,008, filed on Mar. 12, 2013, now U.S. Pat. No. 9,095,946, which is a continuation-in-part of U.S. patent application Ser. No. 13/368,959, filed on Feb. 8, 2012, which claims the benefit of U.S. Provisional Patent Application Ser. No. 61/440,464, filed on Feb. 8, 2011. 
    
    
     TECHNICAL FIELD 
     The present invention relates to a modular tooling apparatus having orbital and linear adjustments, and in particular, a modular tooling apparatus having serrated teeth that provide for accurate and repetitive orbital, rotational, and linear adjustment of modular tooling connected to the modular tooling apparatus. 
     BACKGROUND 
     With the advent of mechanical manipulators and robotic arms, various tooling assemblies and work piece handling devices have been designed to quickly connect and disconnect to mechanical manipulators and robotic arms so that a variety of modular tooling assemblies can be utilized with the same manipulator. Flexibility and adjustability are preferably designed into the tooling assemblies so that the tooling assemblies can be configured for a variety of work piece configurations. Previous tooling assemblies have utilized various sections of tubing interconnected by various brackets and mounts for fixturing a variety of work pieces, but such designs are typically rigid and provide little or no adjustment in the tooling assembly. Other designs have utilized extrusions or slide mounts to allow the sections of tubing to be adjusted along a linear path of travel, but such designs have a limited amount of flexibility, as they provide only one degree or axis of adjustment. 
     Other known designs have utilized ball mounts to provide rotational or orbital adjustment of the tubing. Such ball mounts typically provide a bracket that receives and clamps a spherical ball through the use of the bracket and a conventional fastener. Due to the configuration of the clamps, such ball mounts typically do not provide 360° rotational movement. In addition, these designs are susceptible to slipping, especially when such tooling mounts are exposed to various grease and oils, as well as random forces that are common in an industrial environment. If the ball mount slips, the work piece-handling boom may become misaligned with respect to the work piece thereby requiring the workstation to be shut down and readjusted. These shut downs create inefficiencies that are undesirable in an industrial environment. 
     Other modular tooling apparatuses have utilized opposing serrated teeth to provide rotational or orbital adjustment of a first and second coupling about an axis of rotation. The serrated teeth provide predetermined rotational adjustment of the first and second couplings relative to one another while ensuring that the couplings will not rotate or slip with respect to one another when the serrated teeth are engaged in a tightened position. A disadvantage to the serrated teeth is that they provide a predetermined number of set positions, thereby limiting the possible positions of the modular tooling apparatus. Another disadvantage in the serrated teeth adjustment is that the serrated teeth must be completely disengaged from one another in order to adjust the position of the couplings. Thus, adjusting the couplings by rotating the serrated teeth relative to one another can be a rather cumbersome and difficult task. Since there may be several pieces of modular tooling connected to the serrated teeth, it may become even more difficult to adjust the positioning of the serrated teeth, especially in an industrial environment. Such difficulties cause inefficiencies that are undesirable in an industrial environment. 
     It would be desirable to provide a modular tooling apparatus that provides a quick and simple adjustment mechanism for providing numerous, multi-axis adjustments of a modular tool without the risk of the modular tooling apparatus slipping and misaligning. 
     SUMMARY 
     Modular tooling apparatuses are disclosed herein. 
     One aspect of the disclosed embodiments is a modular tooling apparatus that includes a first coupler portion, a second coupler portion, a locking member, and a friction member. The first coupler portion and the second coupler portion are rotationally adjustable with respect to one another. The locking member is moveable to a locked position wherein the locking member engages the first coupler portion and the second coupler portion to restrain the first coupler portion from rotating with respect to the second coupler portion. The friction member engages the first coupler portion and the second coupler portion to resist rotation of the first coupler portion with respect to the second coupler portion when the locking member is not in the locked position. 
     Another aspect of the disclosed embodiments is a modular tooling apparatus that includes a first coupler portion having a first contoured surface, and a second coupler portion having a second contoured surface. The first coupler portion and the second coupler portion are rotationally adjustable with respect to one another. The modular tooling apparatus also includes a locking member having a third contoured surface and a fourth contoured surface. The locking member is moveable to a locked position with respect to the first coupler portion and the second coupler portion in which the third contoured surface of the locking member engages the first contoured surface of the first coupler portion and the fourth contoured surface of the locking member engages the second contoured surface of the second coupler portion to restrain the first coupler portion from rotating with respect to the second coupler portion. A friction member engages the first coupler portion and the second coupler portion to resist rotation of the first coupler portion with respect to the second coupler portion when the locking member is not in the locked position. 
     Another aspect of the disclosed embodiments is a modular tooling apparatus that includes a rod that extends along a longitudinal axis, a first coupler portion that is substantially cylindrical and has a first contoured surface at an axial end thereof, and a second coupler portion that is substantially cylindrical, defines a bore having a shoulder formed therein, and has a second contoured surface at an axial end thereof. The first coupler portion is at least partially disposed within the bore of the second coupler portion, the rod extends through the first coupler portion and the second coupler portion, and the first coupler portion and the second coupler portion are rotationally adjustable with respect to one another around the longitudinal axis. The modular tooling apparatus also includes a locking member having a third contoured surface and a fourth contoured surface, wherein the rod extends through the locking member and the locking member is moveable to a locked position with respect to the first coupler portion and the second coupler portion in which the third contoured surface of the locking member engages the first contoured surface of the first coupler portion and the fourth contoured surface of the locking member engages the second contoured surface of the second coupler portion to restrain the first coupler portion from rotating with respect to the second coupler portion. A friction member is connected to the second coupler portion such that the friction member rotates substantially in unison with the first coupler portion and the friction member frictionally engages the shoulder in the bore in the second coupler portion to resist rotation of the first coupler portion with respect to the second coupler portion when the locking member is not in the locked position. 
     Another aspect of the disclosed embodiments is a modular tooling apparatus that includes a first coupler portion having a first contoured surface and a second coupler portion having a second contoured surface. The first coupler portion and the second coupler portion are rotationally adjustable with respect to one another. The apparatus also includes a locking member having a bore that extends through the locking member, a third contoured surface that is arranged around and outward from a first portion of the bore, a widened portion of the bore that is located behind the third contoured surface and has a larger diameter than the third contoured surface, and a fourth contoured surface that is arranged around and outward from the third contoured surface. The locking member is moveable to a locked position in which the third contoured surface of the locking member engages the first contoured surface of the first coupler portion and the fourth contoured surface of the locking member engages the second contoured surface of the second coupler portion to restrain the first coupler portion from rotating with respect to the second coupler portion. 
     Another aspect of the disclosed embodiments is a modular tooling apparatus that includes a first coupler portion having a first contoured surface and a second coupler portion having a second contoured surface. The first coupler portion and the second coupler portion are rotationally adjustable with respect to one another. The apparatus also includes a locking member having a bore that extends through the locking member, a third contoured surface that is arranged around and outward from a first portion of the bore, a widened portion of the bore that is located behind the third contoured surface and has a larger diameter than the third contoured surface, and a fourth contoured surface that is arranged around and outward from the third contoured surface. The locking member is moveable to a locked position with respect to the first coupler portion and the second coupler portion in which the third contoured surface of the locking member engages the first contoured surface of the first coupler portion and the fourth contoured surface of the locking member engages the second contoured surface of the second coupler portion to restrain the first coupler portion from rotating with respect to the second coupler portion. The apparatus also includes a friction member that engages the first coupler portion and the second coupler portion to resist rotation of the first coupler portion with respect to the second coupler portion when the locking member is not in the locked position. 
     Another aspect of the disclosed embodiments is a modular tooling apparatus that includes a rod that extends along a longitudinal axis, a first coupler portion that is substantially cylindrical and has a first contoured surface at an axial end thereof, and a second coupler portion. The second coupler portion is substantially cylindrical, defines a bore having a shoulder formed therein, and has a second contoured surface at an axial end thereof, wherein the first coupler portion is at least partially disposed within the bore of the second coupler portion, the rod extends through the first coupler portion and the second coupler portion, and the first coupler portion and the second coupler portion are rotationally adjustable with respect to one another around the longitudinal axis. The apparatus also includes a locking member having a bore that extends through the locking member, a third contoured surface that is arranged around and outward from a first portion of the bore, a widened portion of the bore that is located behind the third contoured surface and has a larger diameter than the third contoured surface, and a fourth contoured surface that is arranged around and outward from the third contoured surface. The rod extends through the bore of the locking member, and the locking member is moveable to a locked position with respect to the first coupler portion and the second coupler portion in which the third contoured surface of the locking member engages the first contoured surface of the first coupler portion, and the fourth contoured surface of the locking member engages the second contoured surface of the second coupler portion to restrain the first coupler portion from rotating with respect to the second coupler portion. The apparatus also includes a friction member that is connected to the second coupler portion such that the friction member rotates substantially in unison with the first coupler portion, and the friction member frictionally engages the shoulder in the bore in the second coupler portion to resist rotation of the first coupler portion with respect to the second coupler portion when the locking member is not in the locked position. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The various other uses of the present invention will become more apparent by referring to the following detailed description and drawings in which: 
         FIG. 1  is a perspective view showing the modular tooling apparatus of the present invention; 
         FIG. 2  is an exploded view showing the modular tooling apparatus of the present invention; 
         FIG. 3  is a perspective view of a rack of the modular tooling apparatus of the present invention; 
         FIG. 4  is a perspective view of a substantially T-shaped slide of the modular tooling apparatus of the present invention; 
         FIG. 5  is a perspective view of the base coupling of the modular tooling apparatus of the present invention; 
         FIG. 6  is a perspective view showing the contoured surface on a spacer of the modular tooling apparatus of the present invention; 
         FIG. 7  is an exploded view showing the spacer and the contoured surfaces of the modular tooling apparatus of the present invention; 
         FIG. 8  is a perspective view of the boom rod of the modular tooling apparatus of the present invention; 
         FIG. 9  is a perspective of the telescopic boom rod of the modular tooling apparatus of the present invention; 
         FIG. 10  is a perspective view of a second embodiment of the present invention showing an orbital adjustment of the modular tooling apparatus connected to a flange mount; 
         FIG. 11  is a perspective view of the second embodiment of the present invention showing an orbital adjustment of the modular tooling apparatus connected to a quick disconnect; 
         FIG. 12  is a front plan view of the second embodiment of the present invention showing the orbital adjustment of the modular tooling apparatus; 
         FIG. 13  is a perspective view of a third embodiment of the modular tooling apparatus of the present invention having orbital and linear adjustment; 
         FIG. 14  is a perspective view of a fourth embodiment of the modular tooling apparatus of the present invention having orbital and linear adjustment; 
         FIG. 15  is a perspective view of a fifth embodiment of the modular tooling apparatus of the present invention having a locking cap assembly; 
         FIG. 16  is a right sided exploded view of the fifth embodiment of the modular tooling apparatus of the present invention having a locking cap assembly; 
         FIG. 17  is a left sided exploded view of the fifth embodiment of the modular tooling apparatus of the present invention having a locking cap assembly; 
         FIG. 18  is a perspective view of a modular tooling apparatus according to a sixth embodiment; 
         FIG. 19  is a perspective view showing an elbow link of the modular tooling apparatus according to the sixth embodiment; 
         FIG. 20  is a perspective view showing a straight link of the modular tooling apparatus according to the sixth embodiment; 
         FIG. 21  is an exploded view showing a locking cap assembly of the modular tooling apparatus according to the sixth embodiment; 
         FIG. 22  is a cross-section view showing a rotationally adjustable locking joint of the modular tooling apparatus according to the sixth embodiment in a locked position; and 
         FIG. 23  is a cross-section view showing a rotationally adjustable locking joint of the modular tooling apparatus according to the sixth embodiment in a locked position. 
     
    
    
     DETAILED DESCRIPTION 
     The present invention provides a modular tooling apparatus  10  that provides orbital, rotational, and linear spatial adjustments to at least one conventional modular tool  12  connected to the modular tooling apparatus  10 . As seen in  FIGS. 1 and 2 , the modular tooling apparatus  10  may be connected to a male portion  14  of a quick disconnect (not shown) which, in turn, may be received by a female portion (not shown) of the quick disconnect. The female portion of the quick disconnect is connected to a manipulator, such as a robotic arm (not shown). The male portion  14  of the quick disconnect may be connected to a rack or mounting member  16  which, in turn, provides linear adjustment to a base coupling  18  that is releasably and adjustably connected to the rack  16 . A boom arm  20  may be releasably and adjustably connected to the base coupling  18  through mating contoured surfaces  22  formed between the base coupling  18  and the boom arm  20 . The boom arm  20  extends away from the base coupling  18 , wherein a substantially 90° elbow coupling  24  is releasably and adjustably connected to the end of the boom arm  20  through a second set of contoured surfaces  26 . A telescopic boom arm  32  having a shovel arm  28  may then be connected to the elbow coupling  24  through the use of a third set of contoured surfaces  31 . The telescopic boom arm  32  provides linear and rotational adjustment of the shovel arm  28  along a longitudinal axis of the telescopic boom arm  32 . A modular tool  12 , such as a shovel  34 , may be connected to the end of the shovel arm  28  for engaging a work piece (not shown). Other modular tools  12  may include pneumatic grippers, pneumatic clamps, vacuum cups, and other material-handling devices. Similar assemblies comprising the same or different combinations of the base coupling  18 , the boom arm  20 , the elbow coupling  24 , the telescopic boom arm  32 , the shovel arm  28 , and the shovel  34  may be attached to the rack  16 , as previously described, so as to provide for the support and positioning of multiple modular tools  12 . 
     In order to provide the modular tooling apparatus  10  with a first degree of linear adjustment, the rack  16  is positioned and connected to the male portion  14  of the quick disconnect through the use of a conventional fastener  36  and a pair of dowel rods  38 . The rack  16  has a substantially rectangular configuration with a substantially T-shaped slot  40  extending the length of the rack  16 , as seen in  FIGS. 1-3 . A side  42  of the rack  16  is open to the T-shaped slot  40  and has a contoured surface, such as serrated teeth  44 . The serrated teeth  44  extend substantially linearly on both sides of the T-shaped slot  40  along the entire length of the side  42  of the rack  16 . The rack  16  may be fabricated from a high strength, lightweight material, such as aluminum. 
     To allow for linear adjustment of the base coupling  18  relative to the rack  16 , a substantially T-shaped slide  46  matingly and slidingly engages the T-shaped slot  40  formed in the rack  16 , as seen in  FIGS. 1-4 . The T-shaped slide  46  has a threaded aperture  47  formed therein for receiving a conventional fastener  48  which extends through an aperture  49  formed through a first side  50  to a second side  55  of the base coupling  18 , as seen in  FIGS. 1-2 and 5 . The base coupling  18  has a substantially trapezoidal shape wherein the first side  50  of the base coupling  18  has two substantially parallel rows of serrated teeth  52  formed therein with a substantially rectangular recess  54  formed between the two rows of serrated teeth  52 . The rectangular recess  54  in the first side  50  of the base coupling  18  receives a portion of the T-shaped slide  46  provided in the rack  16 . By threading the fastener  48  through the aperture  49  of the base coupling  18  and into the threaded aperture  47  provided in the T-shaped slide  46  of the rack  16 , the serrated teeth  52  on the base coupling  18  may be securely mated to the serrated teeth  44  provided on the rack  16 . A washer  56  and a spring  58  may be assembled to the fastener  48  for engaging the base coupling  18  such that the base coupling  18  is biased against the rack  16 . The spring biased force allows the base coupling  18  to maintain engagement with the rack  16  while the fastener  48  is loosened such that the base coupling  18  will not become disengaged from the rack  16 . Once the fastener  48  is loosened, the user need only pull the base coupling  18  against the biasing force of the spring  58  in order to disengage the serrated teeth  52  of the base coupling  18  from the serrated teeth  44  of the rack  16  so as to linearly adjust the position of the base coupling  18  relative to the rack  16 . Thus, the base coupling  18  may be adjusted linearly along a longitudinal axis of the rack  16  as shown by arrow  61 . 
     In order to provide orbital adjustment of the boom arm  20  relative to the base coupling  18 , the contoured surfaces  22  provide a tooth insert assembly  60  that is connected to and between a third side  59  of the base coupling  18  and one end of the boom arm  20 . The tooth insert assembly  60  includes a first tooth insert  62  having a substantially cylindrical configuration with a contoured surface, such as serrated teeth  64 , formed in a substantially circular configuration on one side of the first tooth insert  62  and facing away from the base coupling  18 , as seen in  FIGS. 1-2 and 6-7 . An opposite side of the first tooth insert  62  is adjacent the third side  59  of the base coupling  18  and provides a projection  66  having a substantially oval configuration. The projection  66  on the first tooth insert  62  is received by a substantially oval recess  68  formed in the third side  59  of the base coupling  18 . The serrated teeth  64  of the first tooth insert  62  matingly engage a contoured surface, such as serrated teeth  70 , formed on one side of a locking member or substantially cylindrical spacer  72  of the tooth insert assembly  60 . The serrated teeth  70  on the spacer  72  are formed in a substantially circular manner as similarly described on the first tooth insert  62 . The spacer  72  also has another contoured surface, such as serrated teeth  74 , formed on the opposite side of the spacer  72 . The serrated teeth  74  are formed in a substantially circular manner, as similarly described with the serrated teeth  70  of the spacer  72 . The serrated teeth  74  of the spacer  72  matingly engage a contoured surface, such as serrated teeth  76 , formed on a second tooth insert  78  of the tooth insert assembly  60 . The second tooth insert  78  is similar to the first tooth insert  62  in that it also provides a substantially oval projection  80  extending from an opposite side of the second tooth insert  78  from that of the serrated teeth  76 . The oval projection  80  on the second tooth insert  78  is matingly received by a substantially oval recess  82  provided on one end of the boom arm  20 , as seen in  FIGS. 1-2 and 8 . The boom arm  20 , the second tooth insert  78 , the spacer  72 , the first tooth insert  62 , and the third side of the base coupling  18  all provide apertures that are coaxially aligned along a common longitudinal axis  84 . A conventional fastener  86  extends along the axis  84  through the apertures of the boom arm  20  and the tooth insert assembly  60  and threads into a threaded aperture  87  provided in the base coupling  18 . The fastener  86  adjustably and releasably connects the boom arm  20  to the base coupling  18  through the use of the tooth insert assembly  60 . A tubular sleeve  89  extends through the tooth insert assembly  60  along the longitudinal axis  84  and receives the fastener  86 . A spring  88  and a washer  90  may be assembled to the fastener  86  so as to bias the boom arm  20  against the tooth insert assembly  60  thereby biasing the tooth insert assembly  60  against the base coupling  18 . This helps to secure the position of the boom arm  20 , relative to the tooth insert assembly  60  and relative to the base coupling  18 , upon the loosening of the fastener  86 . A spring  92  and snap ring  94  are also provided between the first tooth insert  62  and the spacer  72  of the tooth insert assembly  60  wherein the snap ring  94  is seated in a recess  95  of the sleeve  89 . The spring  92  biases the spacer  72  toward the second tooth insert  78  and away from the first tooth insert  62 . This helps maintain the position of the first tooth insert  62 , the spacer  72 , and the second tooth insert  78  upon the loosening of the fastener  86 . 
     To provide incremental adjustment of the base coupling  18  relative to the boom arm  20 , the serrated teeth  70 ,  74  on opposite sides of the spacer  72  of the tooth insert assembly  60  are offset by 0.6°, as seen in  FIGS. 6-7 . Thus, the serrated teeth  70  on the first side of the spacer  72  are spaced at 15° angles so as to provide twenty-four (24) serrated teeth  70  about the substantially circular spacer  72  which matingly engages the serrated teeth  64  of the first tooth insert  62  of the tooth insert assembly  60 . The serrated teeth  74  on the opposite side of the spacer  72  are spaced at 14.4° angles, thereby providing a total of twenty-five (25) serrated teeth  74  on the opposite side of the circular spacer  72 . The serrated teeth  74  on the spacer  72  matingly engage the serrated teeth  76  provided on the second tooth insert  78  of the tooth insert assembly  60 . The offset angles on the spacer  72  of the tooth insert assembly  60  provide a multitude of rotational adjustments between the base coupling  18  and the boom arm  20 , as shown by arrow  97 . 
     In order to have a reference as to the position of the base coupling  18  and the boom arm  20 , the spacer  72  has alphanumeric indicia  96  formed on the outer surface of the spacer  72 . The alphanumeric indicia  96  provide a different letter  98  at each root of the serrated teeth  74  on one side of the spacer  72 . A different number  100  is provided at every root of the serrated teeth  70  on the opposite side of the spacer  72 . A reference indicator  102  is provided on an outer surface of the first tooth insert  62  of the tooth insert assembly  60 , and a second reference indicator  104  is provided on an outer surface of the second tooth insert  78  of the tooth insert assembly  60 . The reference indicators  102 ,  104  are fabricated from a narrow piece of raised material attached to the outer surfaces of the first and second tooth inserts,  60 ,  78 , respectively. 
     By having the serrated teeth  70 ,  74  of the spacer  72  spaced at 15° intervals on the first side of the spacer  72  and at 14.4° intervals on the second side of the spacer  72 , rotational or orbital adjustment of the base coupling  18  relative to the boom arm  20  may be provided at every 0.6 degrees of rotational interval. Thus, the modular tooling apparatus  10  provides for six hundred (600) different incremental rotational adjustments of the base coupling  18  relative to the boom arm  20 . For instance, by placing the reference indicator  102  on the first tooth insert  62  on the numeral “1” on the first side of the spacer  72 , the reference indicator  104  on the second tooth insert  78  may be placed on any of the twenty-four (24) letters  98  (letters “I” and “O” have been eliminated in order not to cause confusion with the numerals “1” and “0”) to provide for twenty-four (24) different incremental positions when the reference indicator  102  on the first tooth insert  62  is on the number “1”. When the reference indicator  102  on the first tooth insert  62  is placed on the number “2” on the first side of the spacer  72 , the reference indicator  104  on the second tooth insert  78  may be moved to any of the twenty-four (24) letters  98  on the second side of the spacer  72  to provide an additional twenty-four (24) incremental positions. This process may continue in order to realize all of the six hundred (600) positions of incremental adjustment. 
     In order to further extend the modular tooling  12 , the end of the boom arm  20  opposite the base coupling  18  is connected to a tooth insert assembly  106  that is similar to the tooth insert assembly  60 . That is, the end of the boom arm  20  has a substantially oval recess  107  for matingly receiving a substantially oval projection provided on a first tooth insert of the tooth insert assembly  106 . The tooth insert assembly  106  is similarly connected to the 90° elbow coupling  24  in that the elbow coupling  24  provides a substantially oval recess for matingly receiving a substantially oval projection provided on a second tooth insert of the tooth insert assembly  106 . The elbow coupling  24  has a fastener  110  which extends through an aperture provided in a first side of the elbow coupling  24  and through the tooth insert assembly  106 . The fastener  110  also threads into a threaded aperture  109  provided in the end of the boom arm  20 . By loosening the fastener  110 , the elbow coupling  24  may be rotatably adjusted with respect to the boom arm  20  by rotating the serrated teeth within the tooth insert assembly  106 . Since the serrated teeth in tooth insert assembly  106  are offset, as described in tooth insert assembly  60 , the elbow coupling  24  will have 600 positions of rotational adjustment with respect to the boom arm  20 , as shown by arrow  111 . 
     To connect the telescopic boom arm  32  to the elbow coupling  24 , the opposite side of the elbow coupling  24  is connected to a tooth insert assembly  112  which is similar to the tooth insert assembly  60  previously described. Thus, the elbow coupling  24  provides a substantially oval recess that matingly receives a substantially oval projection provided on a first tooth insert of the tooth insert assembly  112 . The tooth insert assembly  112  is connected to the boom arm  32  by the boom arm  32  having a substantially oval recess  113  that matingly receives a substantially oval projection on the second tooth insert of the tooth insert assembly  112 , as seen in  FIGS. 1-2 and 9 . A conventional fastener  114  extends through a coaxial aperture extending through the end of the boom arm  32  and through the tooth insert assembly  112 . The fastener  114  also extends and threads into a threaded aperture provided in the elbow coupling  24  in order to connect and secure the above listed elements. A spring  116  and a washer  118  may be assembled to the fastener  114  to bias the boom arm  32  toward the tooth insert assembly  112 , as previously described in the similar configurations. By loosening the fastener  114 , the serrated teeth in the tooth insert assembly  112  may be rotated relative to one another to allow for 600 rotational adjustments of the boom arm  32  relative to the elbow coupling  24 , as shown by arrow  120 . 
     To provide further linear and rotational adjustment of the modular tooling  12 , the boom arm  32  may have a telescopic adjustment wherein a first portion  122  of the boom arm  32  receives a second portion of the boom arm  32 , such as the shovel arm  28 . The first portion  122  of the boom arm  32  has a substantially cylindrical configuration with slots  126  extending through the walls at one end of the first portion  122  of the boom arm  32 . The slots  126  of the first portion  122  of the boom arm  32  allow the end of the first portion  122  to expand and receive the second portion of the boom arm  32 , such as the shovel arm  28 . A clamp  128  extends over the slotted portion of the first portion  122  of the boom arm  32 . A conventional fastener  130  extends through apertures provided in a clamp  128  so as to releasably secure the second portion of the boom arm  32 , such as the shovel arm  28 , within the first portion  122  of the boom arm  32 . When the clamp  128  is loosened by loosening the fastener  130 , the second portion of the boom arm  32 , such as the shovel arm  28 , may be rotated or adjusted linearly along the longitudinal axis of the boom arm  32 . The shovel  34  is connected to the end of the second portion of the boom arm  32 , such as the shovel arm  28 , through the use of a conventional fastener  132 . As previously noted, any form of modular tooling  12  may be connected to the boom arm  32 . Thus, the telescopic feature of the boom arm  32  allows for linear adjustment, as shown by arrow  134 , and rotational adjustment, as shown by arrow  136 , along and about the longitudinal axis of the boom arm  32 . 
     In another embodiment, the tooth insert assembly  60 , as previously described, may be utilized to provide multiple orbital adjustments of the modular tooling apparatus  10 . As seen in  FIGS. 11-12 , a quick disconnect  138  may be connected to a manipulator (not shown), such as a robotic arm or transfer rail/beam, or the modular tooling apparatus  10  may be connected to a manipulator by a flange mount  139 , as seen in  FIG. 10 . As seen in  FIGS. 11-12 , the quick disconnect  138  has a female portion  140  that is connected to the manipulator through the use of conventional fasteners. A male portion  142  of the quick disconnect  138  is received by the female portion  140  of the quick disconnect  138 . The quick disconnect  138  may provide pneumatic and electrical connections between the female and male portions  140 ,  142  of the quick disconnect  138 . 
     To connect the modular tooling apparatus  10  to the quick disconnect  138 , as seen in  FIGS. 11-12 , or to the flange mount  139 , as seen in  FIG. 10 , a tooth insert assembly  144 , similar to the tooth insert assembly  60  previously described, is connected to the end of the male portion  142  of the quick disconnect  138  or to the flange mount  139 . The male portion  142  of the quick disconnect  138 , as seen in  FIGS. 11-12 , and the flange mount  139 , as seen in  FIG. 10 , both have a substantially oval recess for receiving a substantially oval projection extending from a first tooth insert of the tooth insert assembly  144 . The tooth insert assembly  144  is also connected to a linkage bar  146  through the use of a conventional fastener  148 . The fastener  148  extends through a coaxial aperture extending through the linkage bar  146 , the tooth insert assembly  144 , and the male portion  142  of the quick disconnect  138  of the flange mount  139 . Both the male portion  142  of the quick disconnect  138  and the flange mount  139  have threaded apertures for threadingly receiving the fastener  148 . A spring (not shown) and a washer (not shown) may also be connected to the fastener  148 , as previously described in a similar construction, so as to bias the linkage bar  146  toward the tooth insert assembly  144 . By loosening the fastener  148 , the tooth insert assembly  144  may be rotated to provide orbital adjustment of the linkage bar  146 , as shown by the rotational axis  150  in  FIG. 12 , relative to the male portion  142  of the quick disconnect  138 . Since the serrated teeth of the tooth insert assembly  144  are offset as described in the tooth insert assembly  60 , the linkage bar  146  will have 600 incremental rotational adjustments relative to the quick disconnect  138  or flange mount  139 . 
     The linkage bar  146  has a substantially rectangular configuration with rounded ends  152  at each end of the linkage bar  146 . Opposite the first end of the linkage bar  146  is a second end that is connected to a tooth insert assembly  154  which is similar to the tooth insert assembly  60 . That is, the linkage bar  146  has a substantially oval recess for matingly receiving a substantially oval projection on a first tooth insert on the tooth insert assembly  154 . The tooth insert assembly  154  connects the linkage bar  146  to a second similar linkage bar  156  having a similar configuration to that of the linkage bar  146 . That is, the linkage bar  156  has a substantially oval recess for receiving a substantially oval projection on a second tooth insert of the tooth insert assembly  154 . A conventional fastener  158  extends through a coaxial aperture extending through the linkage bar  146 , the tooth insert assembly  154 , and a first end of the linkage bar  156  where the fastener  158  threads into a threaded aperture provided in the first end linkage bar  156 . A spring (not shown) and a washer (not shown) may also be assembled to the fastener  158 , as previously described in similar configurations, wherein the linkage bar  156  is biased toward the tooth insert assembly  154 . When the fastener  158  is loosened, the serrated teeth of the tooth insert assembly  154  may be rotated to provide 600 orbital adjustments of the linkage bar  156  relative to the linkage bar  146  due to the offset serrated teeth in the tooth insert assembly  154 , as previously described in the tooth insert assembly  60 . 
     In order to provide orbital rotational and linear adjustment to the modular tool  12 , a second end of the linkage bar  156 , which is opposite the first end of the linkage bar  156 , may have a telescopic boom arm  160 , as similarly described in the boom arm  32 , connected to the end of the linkage bar  156 . The second end of the linkage bar  156  has a substantially oval recess that receives a substantially oval projection provided on the boom arm  160 . A fastener extends through the second end of the linkage bar  156  and is threaded into a threaded aperture in the boom arm  160  to secure the boom arm  160  to the linkage bar  156 . Thus, the linkage bar  156 , in combination with the linkage bar  146 , may allow for orbital adjustment of the modular tooling  12 , as shown in radial axes  161  and  162  of  FIG. 12 . The telescopic boom arm  160  also provides linear and rotational adjustment of the modular tool  12 , as previously described with the similar telescopic boom arm  32 . 
     In yet another embodiment, the modular tooling apparatus  10  provides a method for providing linear and orbital adjustment of the modular tooling  12 , as seen in  FIGS. 13 and 14 . The modular tooling apparatus  10  provides a 90° elbow bracket  164  that is releasably and adjustably connected to a mounting rail  166 . The mounting rail  166  provides a substantially T-shaped slot  168  for receiving a substantially T-shaped slide  170 . The T-shaped slide  170  is captured within the T-shaped slot  168  of the mounting rail  166  such that the T-shaped slide  170  may slide along the T-shaped slot  168  of the mounting rail  166 . A conventional fastener  172  extends through an aperture provided in the 90° elbow bracket  164  and threads into a threaded aperture provided in the T-shaped slide  170 . The 90° elbow bracket  164  extends across the opening created by the T-shaped slot  168  in the mounting rail  166  such that when the fastener  172  is threaded into the threaded aperture of the T-shaped slide  170 , the T-shaped slide  170  and the 90° elbow bracket  164  tighten against the mounting rail  166  so as to secure the 90° elbow bracket  164  in a stationary position relative to the mounting rail  166 . Thus, when the fastener  172  is loosened, the 90° elbow bracket  164  may be adjusted linearly along the longitudinal axis of the mounting rail  166  by sliding the T-shaped slide  170  along the mounting rail  166 , as shown by arrow  173 . 
     The other end of the 90° elbow bracket  164  extends outward away from the mounting rail  166  and has an aperture extending therethrough for receiving a fastener  176 . The fastener  176  also extends through a pair of substantially circular disks  178 ,  180  having opposing and mating serrated teeth  182 ,  184  formed in a substantially circular configuration on each of the circular disks  178 ,  180 . The fastener  176  extends through coaxial apertures extending through the 90° elbow bracket  164  and through apertures provided in each of the circular disks  178 ,  180 . The fastener  176  also extends into a substantially T-shaped slide  186  that is slidably captured within a substantially T-shaped slot  188  formed in a substantially rectangular linkage rail  190 . When the fastener  176  is threaded into a threaded aperture in the T-shaped slide  186 , the T-shaped slide  186  and the circular disks  178 ,  180  tighten against the linkage rail  190  so as to secure the 90° elbow bracket  164  in a fixed position relative to the linkage rail  190 . However, when the fastener  176  is loosened, the T-shaped slide  186  is allowed to move linearly along the linkage rail  190 , and the circular disks  178 ,  180  are allowed to rotate relative to one another so as to allow the linkage rail  190  to rotate relative to the mounting rail  166 , as indicated by arrow  192 . Although the circular disks  178 ,  180  do not include a spacer having serrated teeth there between, it should be known that the present invention anticipates using a tooth insert assembly  60  in the present embodiment, as previously described. 
     In order to provide further adjustment of the modular tooling  12 , the modular tooling apparatus  10  provides an additional linkage rail  194  that is similar to the linkage rail  190 . The linkage rail  194  also provides a T-shaped slot  196  and a substantially T-shaped slide (not shown) similar to that previously described in the linkage rail  190 . A pair of circular disks  200 ,  202 , similar to disks  178 ,  180 , between the linkage rails  190 ,  194  are also provided with each disk  200 ,  202  having a circular array of serrated teeth  204 ,  206 . The circular disk  200  is mounted adjacent the T-shaped slide provided in the linkage rail  194 , and the circular disk  202  is mounted adjacent the T-shaped slot  188  of the linkage rail  190 . A conventional fastener  210  extends coaxially through apertures provided in the T-shaped slide  208 , the circular disks  200 ,  202 , and the substantially T-shaped slide  198  provided in the linkage rail  194 . There is no T-shaped slide provided in the linkage rail  190  because the fastener  210  must extend through the linkage rail  190  to provide access to the fastener  210 , and therefore, the disks  200 ,  202  cannot move linearly along the linkage rail  190 . However, when the fastener  210  is loosened, the T-shaped slide may slide along the linkage rail  194  to provide linear adjustment along the linkage rail  194 , as indicated by arrow  199 . The circular disks  200 ,  202  may also rotate relative to one another, thereby providing rotational or orbital adjustment of the linkage rail  194  relative to the linkage rail  190 , as indicated by arrow  212 . When the fastener  210  is tightened, the circular disks  200 ,  202  and substantially T-shaped slides  198 ,  208  are secured in a fixed position relative to the linkage rails  190 ,  194 . However, since the fastener  210  must pass through an aperture provided in a wall of the linkage rail  190  in order to provide the user with access to the fastener  210 , the linkage rail  194  cannot be adjusted linearly along the linkage rail  190 . 
     To secure the modular tooling  12  to the linkage rail  194 , a 90° elbow bracket  214  is utilized at one end of the linkage rail  194 , as seen in  FIG. 13 . The 90° elbow bracket  214  has a pair of circular disks  216 ,  218  mounted between the 90° elbow bracket  214  and the linkage rail  194 . Each of the circular disks  216 ,  218  have a circular array of mating serrated teeth  220 ,  222  similar to the disks  178 ,  180 . The circular disk  218  is mounted adjacent a substantially T-shaped slot  196  provided in the linkage rail  194 . A conventional fastener  226  extends coaxially through an aperture provided in the linkage rail  194 , through the T-shaped slide  224 , the circular disks  216 ,  218 , and the 90° elbow bracket  214 . Again, no T-shaped slide is utilized due to the fastener  226  extending through the linkage rail  194 . However, when the fastener  226  is loosened, the circular disks  216 ,  218  may rotate relative to one another thereby providing rotational adjustment of the modular tooling  12  relative to the linkage rail  194 , as indicated by arrow  227 . When the fastener  226  is tightened, the circular disks  216 ,  218  are brought together to allow the serrated teeth  220 ,  222  of the circular disks  216 ,  218  to mate, thereby securing the 90° elbow bracket  214  in a stationary position relative to the linkage rail  194 . 
     To provide rotational adjustment to the modular tool  12 , an opposite end of the 90° elbow bracket  214  provides a substantially circular disk  228  having a circular array of serrated teeth  230  formed thereon. The modular tool  12  has a mounting bracket  232  connected to the modular tool  12  by four conventional fasteners  234 . The mounting bracket  232  also has a circular array of serrated teeth  236  mounted thereon for matingly engaging the serrated teeth  230  provided on the circular disk  228  of the 90° elbow bracket  214 . A conventional fastener (not shown) extends coaxially through an aperture provided in the 90° elbow bracket  214 , the circular disk  228 , and the mounting bracket  232 . When the fastener is loosened, the serrated teeth  230 ,  236  may be allowed to rotate relative to one another to provide for rotational adjustment of the modular tool  12 , as indicated by an arrow  240 . When the fastener  238  is tightened, the serrated teeth  230 ,  236  are matingly secured against one another thereby allowing the modular tool  12  to be maintained in a stationary position relative to the 90° elbow bracket. 
     In an alternative embodiment shown in  FIG. 14 , an additional linkage rail  242  may be connected to the linkage rail  194  before connecting the 90° elbow bracket  214  to the modular tool  12 . The same construction as linkage rails  190  and  194  is utilized to provide the modular tooling apparatus with an additional degree of orbital and linear adjustment of the modular tool. 
     In another embodiment of the present invention, the tooth insert assembly  60  can be replaced in a modular tooling apparatus  300  by a locking cap assembly  302 , as shown in  FIG. 15 . In the modular tooling apparatus  300 , the locking cap assembly  302  may be utilized to assist in connecting the modular tool  12  to a quick disconnect, as similarly described in previous embodiments, while providing orbital and rotational adjustment of the modular tool  12 . The locking cap assembly  302  is similar to the tooth insert assembly  60  in that two sets of contoured surfaces having serrated teeth with different number of teeth are employed to achieve fine positional control and ease of adjustment of the locking cap assembly  302 ; however, the methods of adjustment are different from those of the tooth insert assembly  60 . 
       FIGS. 16-17  show exploded views of the locking cap assembly  302 , which includes a base coupling or mounting member  304  having a substantially cylindrical extension  306  having a face with four slots  308  formed therein along a longitudinal axis  310 . The mounting member  304  may be connected to a boom rod, coupling, and/or quick disconnect which, in turn, is connected to a manipulator. The locking cap assembly  302  also includes a moveable member  312  which, in turn, is connected to the modular tool  12 . The moveable member  312  has an aperture  314  extending therethrough for rotatably receiving the cylindrical extension  306  of the mounting member  304 . The moveable member  312  has a contoured surface having serrated teeth  316  radially formed therein in a substantially cylindrical manner. The mounting member  304  also has a substantially cylindrical base member  318  having four tabs  320  formed on one end of the base member  318  that matingly engage the slots  308  of the cylindrical extension  306  of the mounting member  304  in a fixed relationship. The base member  318  is also partially received within the aperture  314  provided in the moveable member  312 . The base member  318  also has a contoured surface having serrated teeth  322  radially formed in a substantial cylindrical configuration and extending from the opposite end of the base member  318  from the tabs  320 . The serrated teeth  322  of the base member  318  fit within the serrated teeth  316  of the moveable member  312  without interfering with its movement. The locking cap assembly  302  further includes a locking member or substantially cylindrical locking cap  326  having one contoured surface of serrated teeth  328  and a second contoured surface of serrated teeth  330  formed on one end of the locking cap  326 . The serrated teeth  328 ,  330  are radially formed therein in a substantial cylindrical manner and are coaxially aligned and concentric with one another, wherein serrated teeth  330  have a larger diameter than serrated teeth  328 . The locking cap  326  is releasably engageable to locking cap assembly  302  by a conventional fastener  332  which passes through appropriately sized apertures in locking cap  326 , spacers  324 , moveable member  312  and base member  318  to be attached to a threaded aperture  334  in the mounting member  304  along the longitudinal axis  310 . 
     To secure the locking cap assembly  302  and prevent the mounting member  304  from moving in relation to the moveable member  312 , the fastener  332  is threaded into the threaded aperture  334  causing the locking cap  326  to engage the serrated teeth  328  on the locking cap  326  with the serrated teeth  322  of the base member  318  and engage the serrated teeth  330  of the locking cap  326  with the serrated teeth  316  of the moveable member  312 . When the fastener  332  is tightened against the locking cap  326 , the engagement of the first slots  308  and the second tabs  320 , the serrated teeth  322 ,  328 , and the serrated teeth  316 ,  330  prevent mounting member  304  from moving in relation to the moveable member  312 . 
     To adjust the locking cap assembly  302  and change the geometric relationship between the mounting member  304  and the moveable member  312 , the fastener  332  is threadingly loosened to permit disengagement of the serrated teeth  328  in the locking cap  326  from the serrated teeth  322  on the base member  318  and the serrated teeth  330  of the locking cap  326  from the serrated teeth  316  of the moveable member  312  without removing the fastener  332  completely from the threaded aperture  334 . The mounting member  304  and the moveable member  312  are then free to move in relation to each other about the longitudinal axis  310 . Adjustment can be accomplished by an operator manipulating the mounting member  304  and the moveable member  312  by hand to the desired position. The locking cap  326  can then be rotated about the longitudinal axis  310  to find a location where the serrated teeth  328  of the locking cap  326  can engage the serrated teeth  322  of the base member  318 , and the serrated teeth  330  of the locking cap  326  can engage the serrated teeth  316  of the moveable member  312 , simultaneously. This is possible since the combination of unequal numbers of serrated teeth on the contoured surfaces provides adjustment to within about 0.6 degrees by rotating the locking cap  326  with respect to the serrated teeth  322  of the base member  318  and the serrated teeth  316  of the moveable member  312 . The locking cap assembly  302  can then fix the relative position of the mounting member  304  and the moveable member  312  in this position by threadingly tightening the fastener  332 , thereby maintaining the adjusted relationship between the mounting member  304  and the moveable member  312 . 
     Since the serrated teeth  328  of the locking cap  326  and the serrated teeth  322  of the base member  318  have a first number of teeth, and the serrated teeth  330  of the locking cap  326  and the serrated teeth  316  of the moveable member  312  have a second number of teeth, the angular resolution at which the locking cap assembly  302  can fix the moveable member  312  and the mounting member  304  is a function of the ratio of the first and second numbers of teeth. For example, if the serrated teeth  328 ,  322  have 24 teeth and the serrated teeth  330 ,  316  have 25 teeth, the angular resolution of the locking cap assembly  302  is about 0.6 degrees yielding 600 different positions at which the locking cap assembly  302  can be set within its 360° rotation. To find the correct position at which the serrated teeth  328 ,  330  of the locking cap  326  engage the serrated teeth  328  of the base member  318  and the serrated teeth  316  of the moveable member  312 , the locking cap  326  is rotated until the best fit between the serrated teeth  328 ,  322 ,  330 ,  316  is found. 
     Different embodiments of the locking cap assembly  302  can also include a biasing element  329  which helps to maintain engagement of appropriate contoured surfaces during the adjustment process. Inclusion of springs through which the fastener  332  passes on the longitudinal axis  310  between the fastener  332  and the locking cap  326  can cause the locking cap  326  to be biased against the moveable member  312  and the base member  318  unless a user is actively disengaging the locking cap  326 . 
     An example of a modular tooling apparatus  400  according to a further embodiment is shown in  FIG. 18 . The modular tooling apparatus  400  can provide orbital, rotational, and/or linear spatial adjustments to at least one conventional modular tool, such as a powered gripper  402 , that is connected to the modular tooling apparatus  400 . 
     The modular tooling apparatus  400  can include a male quick disconnect coupler  410  of a quick disconnect assembly (not shown) which in turn may be received by a female quick disconnect coupler (not shown) of the quick disconnect assembly. The female quick disconnect coupler of the quick disconnect assembly can be connected to a manipulator, such as a robotic arm or a movable tooling rail (not shown). 
     The modular tooling apparatus  400  can also include a plurality of links that are rotationally, orbitally, and/or linearly adjustable with respect to one another. In the illustrated example, the modular tooling apparatus includes a first elbow link  420 , a first straight link  430 , a second elbow link  440 , a second straight link  450 , an end link  460 , and a boom arm  470  that is telescopically related to the end link  460  and secured to the end link  460  by a clamping collar  480 . The boom arm  470  is connected to the modular tool, such as the powered gripper  402 . 
     Adjacent pairs of the various members of the modular tooling apparatus  400  are connected to each other. In the illustrated example, the male quick disconnect coupler  410 , the first elbow link  420 , the first straight link  430 , the second elbow link  440 , the second straight link  450  and the end link  460  are each connected to at least one adjacent structure by a rotationally adjustable locking joint  500 . As will be explained herein, each of the rotationally adjustable locking joints  500  is defined in part by structures that are formed on the members that are connected to each other. 
       FIG. 19  shows the second elbow link  440  of the modular tooling apparatus. The second elbow link  440  includes a first surface  442  and a second surface  444  that are oriented perpendicularly with respect to one another. The second elbow link  440  includes two male coupling structures  510 , each formed on a respective one of the first surface  442  and the second surface  444 . The male coupling structures  510  can each form part of one of the adjustable locking joints  500  of the modular tooling apparatus  400 , as will be explained further herein. 
     The male coupling structure  510  of each locking joint  500  includes a substantially cylindrical wall  512  that extends outward from a surface of the member that it is formed on, such as the first surface  442  of the second elbow link  440 . A contoured surface is formed on the axial end of the cylindrical wall  512 . In particular, the contoured surface can be defined by a plurality of teeth  514  that are formed on radially separated fingers  516  that are defined by the cylindrical wall  512 . The radially separated fingers  516  can extend in the axial direction of the cylindrical wall  512 . The teeth  514  can be formed at a constant radial spacing with respect to one another on each of the radially separated fingers  516 , which are spaced apart from one another by a plurality of slots  518 , each of which extends through a portion of the substantially cylindrical wall  512 , for example, from the axial end of the cylindrical wall  512  to a slot end  519  at an intermediate location on the cylindrical wall  512  between the axial end and the surface of the member on which the male coupling structure  510  is formed. The cylindrical wall  512  can define a hollow interior  520  for the male coupling structure  510 , and the hollow interior  520  can be adjacent to an aperture that is formed through the member on which the male coupling structure  510  is formed. For example, the second elbow link  440  can include an aperture  446 . As will be discussed further herein, the aperture  446  can be a threaded aperture that is adapted to receive and engage a threaded fastener. 
       FIG. 20  shows the first straight link  430  of the modular tooling apparatus  400 . The first straight link  430  extends from a first end  433  to a second end  434 . The first straight link  430  includes two female coupling structures  530 , each of which is formed on the first straight link  430  adjacent to a respective one of the first end  433  or the second end  434  of the first straight link  430 . The female coupling structures  530  can each form part of one of the adjustable locking joints  500  of the modular tooling apparatus  400 , as will be explained further herein. 
     The female coupling structure  530  of each locking joint includes a bore  532  that extends through the member on which the female coupling structure  530  is formed, such as the first straight link  430  of the modular tooling apparatus  400 . The bore  532  can be a stepped bore that is defined by a first radial wall portion  534  and a second radial wall portion  536  that meet at a shoulder  538 , wherein the bore  532  has a smaller diameter in the portion defined by the first radial wall portion  534  than it does in the portion defined by the second radial wall portion  536 . The female coupling structure  530  includes a contoured surface that extends outward from a surface on the member that the female coupling structure  530  is formed on, such as a first surface  432  of the first straight link  430 . In particular, the contoured surface can be defined by a plurality of teeth  540  that extend outward with respect to the first surface  432  of the first straight link  430  and surround the bore  532  of the female coupling structure  530 , such that the contoured surface defined by the plurality of teeth  540  is substantially annular. Furthermore, the contoured surface defined by the plurality of teeth  540  can be substantially continuous. The plurality of teeth  540  of the contoured surface of the female coupling structure  530  can be arranged with a constant radial spacing. In addition, the radial spacing of the plurality of teeth  540  of the contoured surface of the female coupling structure  530  can be different than the radial spacing of the plurality of teeth  514  of the male coupling structure  510  in order to allow positional adjustment of the female coupling structure  530  with respect to the male coupling structure  510 , as will be explained in detail further herein. 
     As shown in  FIG. 21 , each of the rotationally adjustable locking joints  500  includes a locking member such as a locking cap assembly  550 . The locking cap assembly  550  includes a connecting rod  552 , which can be in the form of a threaded fastener. For example, in one implementation, the connecting rod  552  can be a cap bolt. The locking cap assembly  550  can also include a washer  554 , a sleeve  556 , a first biasing element  558 , such as a compression spring, and a second biasing element  560 , such as a stack of Belleville washers, all of which are received within a locking cap  570 . The locking cap assembly  550  can also include an engaging structure  580  that is connected to the connecting rod  552  by a fastener  562 . As examples, the fastener  562  can be a locking washer or a toothed washer. 
     The locking cap  570  includes a first contoured surface or inner contoured surface that is defined by a first plurality of teeth  572 . The first plurality of teeth  572  are arranged radially around a first bore portion  574  that extends axially through the locking cap  570 . A second bore portion  576  ( FIGS. 22-23 ) is also defined by the locking cap  570  and extends axially through the locking cap  570  at an opposite end of the locking cap  570  with respect to the first bore portion  574 . The first plurality of teeth  572  can be arranged continuously around the first bore portion  574  at a constant radial spacing. In particular, the contoured surface defined by the first plurality of teeth  572  can be complementary to the contoured surface defined on the male coupling structure  510  by the plurality of teeth  514  of the male coupling structure  510 , such that the first contoured surface of the locking cap  570  is engageable with the contoured surface of the male coupling structure  510  to restrain rotation of the male coupling structure  510  with respect to the locking cap  570 . 
     A second contoured surface or outer contoured surface is formed on the locking cap  570  by a second plurality of teeth  578 , which are positioned radially outward from the first plurality of teeth  572  and at approximately the same axial location along the locking cap  570  as the first plurality of teeth  572 . Thus, the second contoured surface that is defined by the second plurality of teeth  578  is configured as an annular structure that surrounds the first contoured surface that is defined by the first plurality of teeth  572 . The second contoured surface that is defined by the second plurality of teeth  578  is complementary to the contoured surface of the female coupling structure  530  that is formed by the plurality of teeth  540  of the female coupling structure  530 . The second contoured surface of the locking cap  570  is thus engageable with the contoured surface of the female coupling structure  530  to restrain relative rotation of the locking cap  570  with respect to the female coupling structure  530 . 
     The locking cap assembly  550  also includes a friction member  564  that is received on the rod  552  and includes a plurality of radially extending fingers  566 . The friction member  564  can, in some implementations, be a two layer structure that includes a rigid base layer  567  and a friction pad  568  that is affixed to the rigid base layer  567 . A retainer  569 , such as a lock washer, can be provided on the rod  552  to retain the friction member  564  on the rod  552 . 
       FIG. 22  is a cross-sectional view showing one of the rotationally adjustable locking joints  500  in a locked position. The male coupling structure  510  is disposed within the bore  532  of the female coupling structure  530 . Thus, the contoured surface that is defined by the teeth  514  of the male coupling structure  510  is positioned adjacent to, in axial alignment with, concentrically arranged with respect to, and radially inward from the contoured surface that is defined by the teeth  540  of the female coupling structure  530 . In addition, the contoured surface that is defined by the teeth  514  of the male coupling structure  510  and the contoured surface that is defined by the teeth  540  of the female coupling structure  530  are oriented in a common direction toward the locking cap  570  of the locking cap assembly  550 . 
     In the locked position, the locking cap  570  of the locking cap assembly  550  engages the male coupling structure  510  and the female coupling structure  530  to restrain the male coupling structure  510  and the female coupling structure  530  from rotating with respect to one another. In particular, the contoured surface defined by the teeth  514  of the male coupling structure  510  engages the contoured surface defined by the first plurality of teeth  572  of the locking cap  570  and the contoured surface defined by the teeth  540  of the female coupling structure  530  engages the contoured surface defined by the second plurality of teeth  578  of the locking cap  570 , thereby restraining the male coupling structure  510  and the female coupling structure  530  from rotating with respect to one another. 
     In order to secure the locking cap assembly  550  in the locked position with respect to the male coupling structure  510  and the female coupling structure  530 , the rod  552  can extend through the locking cap  570 , the male coupling structure  510 , and the female coupling structure  530 , and threadedly engage the second elbow link  440 , such as by threaded engagement with the aperture  446 , which can be complementarily threaded. Alternatively, the aperture  446  need not be threaded, and a fastener such as a nut (not shown) can be used to secure the rod  552  with respect to the second elbow link  440 . 
       FIG. 23  is a cross-sectional view showing one of the rotationally adjustable locking joints  500  in an unlocked position. In the unlocked position, the locking cap  570  has been moved away from and is spaced apart with respect to the female coupling structure  530  and the locking cap  570 . With the locking cap  570  disengaged from the male coupling structure  510  and the female coupling structure  530 , the male coupling structure  510  and the female coupling structure  530  can be rotated with respect to one another to allow rotational adjustment. 
     In the unlocked position, the friction member  564  engages the male coupling structure  510  and the female coupling structure  530  to resist rotation of the male coupling structure  510  with respect to the female coupling structure  530 . For example, the friction member  564  can frictionally engage at least one of the male coupling structure  510  or the female coupling structure  530  to resist relative rotation of the male coupling structure  510  and the female coupling structure  530 . 
     In the illustrated example, the radially extending fingers  566  are received in the slots  518  of the male coupling structure  510  such that the male coupling structure  510  and the friction member  564  rotate substantially in unison with one another, subject to a small amount of relative rotation of the radially extending finger  566  within the slots  518  that is provided due to manufacturing tolerances and to allow for easy assembly of the friction member  564  with respect to the male coupling structure  510 . The friction pad  568  of the friction member  564  engages the shoulder  538  of the female coupling structure  530 , and this frictional engagement resists rotation of the male coupling structure  510  with respect to the female coupling structure  530 . The friction member  564  is urged into engagement with the female coupling structure  530  by the biasing force that is applied to the friction member  564  by the second biasing element  560 . The male coupling structure  510  can nonetheless be rotated with respect to the female coupling structure  530  in response to application of force to at least one of the male coupling structure  510  or the female coupling structure  530  sufficient to overcome the friction force applied by the frictional engagement of the friction pad  568  with respect to shoulder  538  of the female coupling structure  530 . As a result, the male coupling structure  510  and the female coupling structure  530  can maintain their relative angular position when the locking cap  570  of the locking cap assembly  550  is moved to the unlocked position, but can then be adjusted with respect to one another. This allows for easier adjustment of the male coupling structure  510  with respect to the female coupling structure  530 . 
     In operation, the modular tooling apparatus  10  of the present invention is assembled in a manner that allows the modular tooling  12  to reach and engage the appropriate work piece when manipulated by the manipulator. The modular tooling apparatus  300 , as previously described, may be adjusted linearly and orbitally to allow the modular tooling  12  to be in a proper position relative to the work piece. 
     While the invention has been described in connection with certain embodiments, it is to be understood that the invention is not to be limited to the disclosed embodiments but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims, which scope is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures as is permitted under the law.