Patent ID: 8857877

Claim:
A reconfigurable end-effector attachable to a robotic arm, comprising: a master boom; a first branch assembly and a second branch assembly, the first branch assembly including a first longitudinal axis parallel to a second longitudinal axis of the second branch assembly and orthogonal to a longitudinal axis of the master boom; a dual articulation mechanism comprising a first rotary clutch mechanism attached to the first branch assembly and configured to rotate the first branch assembly about the first longitudinal axis relative to the second longitudinal axis of the second branch assembly, and a second rotary clutch mechanism attached to the master boom, the second branch assembly and the first rotary clutch mechanism, the second rotary clutch mechanism configured to simultaneously rotate the first and second branch assemblies about the second longitudinal axis relative to the master boom; the first and second branch assemblies each having limbs connected to branches supporting a plurality of tool modules; and each tool module including an end element configurable to interact with a workpiece.