Mechanical dry waste excavating end effector

A mechanical dry waste excavating end effector system for cleaning contaminated tanks without the use of liquids, comprising:

• a bucket assembly that includes a ramp having a lower front end and a rear end that rises up to a trough for collecting waste;
• and
• an articulating gathering arm assembly moveably supported on top of the bucket assembly, the articulating gathering arm assembly to break up and pull the waste into the ramp of the bucket assembly;
• an end effector on and end of the gathering arm, the end effector being selected from at least one of a scraper, rotating grinding drum and set of reciprocating tines;
• a wrist assembly attached to the bucket assembly and the gathering arm assembly, the wrist assembly providing pan, tilt and roll through hydraulic actuation, wherein the gathering arm assembly is mounted to an end of the wrist assembly;
• and
• a quick disconnect mount for mounting the mechanical dry waste excavating end effector system to an end of a manipulator selected from at least one of a boom, a vehicle, a robotic arm, a remote controlled device, a manual operated device, wherein the manipulator is used in tank cleaning operations, and wherein the articulating gathering arm assembly moves relative to the bucket assembly.