Modular Tooling Apparatus Having Serrated Teeth for Orbital and Linear Adjustment

Abstract

A modular tooling apparatus providing orbital adjustment of a modular tool. The modular tooling apparatus includes a base coupling, a first linkage member, and a second linkage member. The base coupling is connectible to a manipulator. The first linkage member is adjustably connected to the base coupling for rotational adjustment about a first axis. The second linkage member is adjustably connected to the first linkage member for rotational adjustment about a second axis. The rotational adjustment of the first linkage member about the first axis and the rotational adjustment of the second linkage member about the second axis combine to provide more orbital positions than the rotational adjustment of the first linkage member about the first axis or the rotational adjustment of the second linkage member about the second axis.

1 - 18 . (canceled) 
     
     
         19 . A modular tooling apparatus comprising:
 a base coupling connectible to a manipulator;   a first linkage member adjustably connected to the base coupling for rotational adjustment about a first axis; and   a second linkage member adjustably connected to the first linkage member for rotational adjustment about a second axis,   wherein the rotational adjustment of the first linkage member about the first axis and the rotational adjustment of the second linkage member about the second axis combine to provide orbital adjustment of the second linkage member about the first axis.   
     
     
         20 . The modular tooling apparatus of  claim 19 , wherein the first axis and the second axis are substantially parallel to one another. 
     
     
         21 . The modular tooling apparatus of  claim 19 , wherein the first axis and the second axis are radially spaced from one another. 
     
     
         22 . The modular tooling apparatus of  claim 19 , wherein the first linkage member and the second linkage member have substantially rectangular configurations. 
     
     
         23 . The modular tooling apparatus of  claim 19 , wherein the first linkage member and the second linkage member have substantially rectangular configurations with arcuate ends. 
     
     
         24 . The modular tooling apparatus of  claim 19 , wherein a modular tool is connected to the second linkage member. 
     
     
         25 . A modular tooling apparatus comprising:
 a base coupling connectible to a manipulator and having a first contoured surface;   a first linkage member having a second contoured surface and a third contoured surface, wherein the second contoured surface is matingly and adjustably connected to the first contoured surface of the base coupling for rotational adjustment of the first linkage member about a first axis; and   a second linkage member having a fourth contoured surface matingly and adjustably connected to the third contoured surface of the first linkage member for rotational adjustment of the second linkage member about a second axis, wherein the first axis and the second axis are substantially parallel to one another.   
     
     
         26 . The modular tooling apparatus of  claim 25 , wherein the first axis and the second axis are radially spaced from one another. 
     
     
         27 . The modular tooling apparatus of  claim 25 , wherein the second contoured surface and the third contoured surface of the first linkage member are in the same plane. 
     
     
         28 . The modular tooling apparatus of  claim 25 , wherein the first linkage member and the second linkage member have substantially rectangular configurations. 
     
     
         29 . The modular tooling apparatus of  claim 25 , wherein the first linkage member and the second linkage member have substantially rectangular configurations with arcuate ends. 
     
     
         30 . The modular tooling apparatus of  claim 25 , wherein the rotational adjustment of the first linkage bar about the first axis and the rotational adjustment of the second linkage bar about the second axis combine to provide orbital adjustment of the second linkage bar about the first axis. 
     
     
         31 . The modular tooling apparatus of  claim 25 , wherein the second contoured surface and the third contoured surface extend in the same direction. 
     
     
         32 . The modular tooling apparatus of  claim 25 , wherein the first contoured surface and the third contoured surface extend in the same direction. 
     
     
         33 . The modular tooling apparatus of  claim 25 , wherein the first contoured surface, the second contoured surface, the third contoured surface, and the fourth contoured surface each have a base and a plurality of ridges extending radially away from the base. 
     
     
         34 . The modular tooling apparatus of  claim 33 , wherein the plurality of ridges on the second contoured surface and the plurality of ridges on the third contoured surface extend in the same direction. 
     
     
         35 . The modular tooling apparatus of  claim 34 , wherein the plurality of ridges on the first contoured surface and the plurality of ridges on the fourth contoured surface extend in a direction that is substantially opposite as the direction that the plurality of ridges on the second contoured surface and the plurality of ridges on the second contoured surface extend. 
     
     
         36 . The modular tooling apparatus of  claim 25 , wherein a modular tool is connected to the second linkage member.