The Boeing Company
Adaptive bundle gripping end effector

Abstract:

A bundle gripping tool employs a support ring concentric to a bundle axis and having a first open sector accessing a central aperture. A closure ring mounted on the support ring is concentric with and rotatable about the bundle axis and has a second open sector wherein rotation of the closure ring to an open position at least partially aligns the first and second open sectors exposing the central aperture. Rotation to a closed position misaligns the second open sector from the first open sector, covering the first open sector gating the central aperture. A plurality of snare cables is engaged between a first set of attachment points on the support ring and a second set of attachment points on the closure ring. The first set of attachment points and second set of attachment points are relatively positioned whereby each of said plurality of snare cables partially encircles the bundle axis in the closed position and exposes the bundle axis in the open position. An operating mechanism is configured to rotate the closure ring.