Patent ID: 8444130

Claim:
An apparatus for centering and gripping an object, comprising: a main stage notable via a drive unit about a first axis of rotation; a plurality of centering members pivotally interconnected with the main stage, each of the centering members being rotatable about a respective axis of rotation, the axes of rotation being substantially parallel with each other, wherein rotation of the centering members about their respective axes of rotation causes the centering members to contact an object positioned on the main stage, and wherein contact with each of the centering members indicates that the object is centered on the stage; wherein the centering assembly includes a central sun gear that rotates with the main stage about the first axis, and wherein each of the centering members is connected to and rotatable with a respective centering member gear, each of the centering member gears engaging and being driven by the sun gear; and wherein the sun gear is coupled to a drive unit via a clutch; and wherein the clutch is configured such that, when the centering members are free to rotate relative to the main stage, the clutch engages the sun gear, such that the sun gear remains stationary and the centering member gears rotate relative to the main stage, and wherein when the centering members are prevented from rotating, the sun gear rotates with the main stage.