Lockable compliant end effector apparatus

Claim 1

A lockable compliant end effector apparatus for picking up an associated object comprising: a main body portion having first and second ends, said body defining a socket having a first rough spherical surface formed in said first end and a first fluid passageway connecting said socket and said second end of said main body; means mounted for multi-directional movement to a desired position in said socket, and for being locked in said desired position, said mounted means having a second rough spherical surface adjacent said first rough spherical surface, said spherical surfaces defining an air bearing therebetween, said mounted means having a second fluid passageway formed therethrough, said second passageway having a first end adjacent said first passageway and a second end adjacent said first end of said main body; means for maintaining said mounted means in said socket and for limiting air flow between said rough surfaces; a sealing member connected to said mounted means adjacent said second end of said second passageway; and conduit means connected to said main body portion for conducting air in either of a first and second direction through said passageways and through said air bearing, whereby said mounted means is movable to said desired position in response to said air being conducted in said first direction when said sealing member is in proximity with said object, and said mounted means is locked in said desired position in response to said air being conducted in said second direction when said sealing member engages said object and said first rough surface engages said second rough surface.