Patent ID: 8226140

Claim:
An end effector for securing an article in a clamping holding assembly, wherein the article is secured by the end effector by having a portion of the article received in the end effector, comprising: a main body having an inner wall and an outer wall; and a connection portion secured to the outer wall adapted to removably secure the main body to the clamping holding assembly, wherein a rib pattern is defined in the main body inner wall, the rib pattern defining an indent in the main body inner wall, the indent shaped as a negative of the portion of the article that is received in the end effector such that the end effector is configured to receive said portion of the article in the indent, wherein the connection portion rotatably secures the main body to the clamping holding assembly such that the end effector is rotatable relative to the clamping holding assembly, wherein the connection portion includes a plurality of indents defined in a face of the connection portion that faces the clamping holding assembly, wherein each of the plurality of indents are adapted to receive any one of a plurality of ball detents protruding from the clamping holding assembly, and wherein the plurality of indents and ball detents provide rotation stop points for the end effector rotation relative to the clamping holding assembly.