Patent ID: 7673916

Claim:
An end effector, comprising: a base part; and a first member having: first, second, and third, serially articulated struts, the first strut of the first member being articulated with the base part, the second strut being articulated with the first strut, and the third strut being articulated with the second strut, wherein the first strut is articulated with the base part for relative angular displacement about a first pitch axis and about a first roll axis substantially orthogonal to the first pitch axis, wherein the second strut is articulated with the first strut for relative angular displacement about, firstly, a first yaw axis substantially orthogonal to the first pitch axis and the first roll axis, and, secondly, about a second pitch axis substantially parallel to the first pitch axis and substantially orthogonal to the first yaw axis, and wherein the third strut is articulated with the second strut for relative angular displacement about a second yaw axis substantially parallel to the first yaw axis.