Patent ID: 7464630

Claim:
An end effector assembly comprising: a cutting head adapted to receive an orifice at an orifice location for generating a high-pressure fluid jet, and having a mixing tube coupled to the cutting head downstream of the orifice location; a motion assembly coupled to the cutting head via a clamp positioned around the cutting head, the motion assembly being configured to be coupled to a bridge for motion parallel to a longitudinal axis of the bridge, the motion assembly further comprising a gimbal wrist provided with a first motor having a first axis of rotation and with a second motor having a second axis of rotation, the first and second axes of rotation being perpendicular to each other but neither parallel nor perpendicular to the longitudinal axis of the bridge when the motion assembly is coupled thereto; and a raised member provided on one of an outer surface of the cutting head and an inner surface of the clamp and a recess provided on the other of the outer surface of the cutting head and the inner surface of the clamp, the raised member mating with the recess in a weight-bearing manner to vertically position and support the cutting head.