Robot manipulator with automatically changeable finger tools

An object manipulator, comprising a gripper having at least two relatively movable fingers mounted in opposition for mutual force engagement and control means for controlling the movement of said fingers, wherein the improvement comprises:

• at least one of said fingers having a pedestal for receiving a tool, said pedestal and tool comprising track means therebetween for permitting relating movement therebetween along a first axis of said finger, the track means positively resisting relative movement therebetween along two axes normal to said first axis,
• spring-biased detent means provided on said pedestal and the tool for yieldably retaining the tool against displacement along said first axis only in the absence of substantial loading along said first axis, and
• said control means comprises means for selectively controlling the mutual force engagement between said fingers to provide a frictional force between said pedestal and the tool for resisting relative movement therebetween along said first axis.