Integrated locking assembly for reconfigurable end-effectors

An integrated locking assembly comprising:

• a housing;
• a linear locking mechanism including opposing locking plates having aligned bores that can lock onto a rod extending through the bores;
• and
• a rotary locking mechanism including an output shaft, said rotary locking mechanism further including rollers positioned between the housing and a cam, said rollers being wedged between the housing and the cam to lock the rotary locking mechanism and being positioned in an open position between the housing and the cam to unlock the rotary locking mechanism, said rotary locking mechanism further including a plate and a plate spring, where the plate spring biases the plate to a locking position and pressure applied to the plate against the bias of the plate spring causes the rollers to be positioned in the open position.

A rotary locking mechanism comprising:

• a cam;
• an output shaft rigidly coupled to the cam;
• a fixed housing;
• a plurality of rollers positioned between the housing and the cam, said rollers being positionable between a locked position and an unlocked position;
• a plurality of locking springs positioned between adjacent rollers and holding the rollers in the locking position;
• and
• a plate and a plate spring, wherein pressure applied to the plate against the bias of the plate spring cause the rollers to move to the unlocked position.