1. Three Pin Coupling Assembly Grey – Upper Arm Red – Arm Interface Plate with Pins for Coupling Blue – Wrist Interface Plate with Receptacles Wrist – Not Shown Interface plates have negative features to contact surface (i.e.. arm plate has wrist features) Plates are 20mm thick One bolt of two used to secure plate while other bolt is longer to secure assembly Three Pin Coupling Features added on inside of plates Design prototype uses interface plates to avoid changing robot. Final design can have plates fixed permanently or without plates for permanent use Still need to determine angle for preload

2. Exploded View of Three Pin Coupling Two “Pins” on Arm Plate One of Two “Holes” On Wrist Plate (Other not visible here) Third Pin on Arm Plate

3. Schematic of Three Pin Coupling Function Two “Pins” on Arm Plate Two “Holes” On Wrist Plate Preload Bolt and Third Pin (See Next Page)

4. Close-up View of Preload Bolt and Third Pin Third Pin on Arm Plate Preload Bolt Pill Shaped Hole for Pin in Wrist Plate Pin to Connect to Wrist (Not Part of Three Pin Coupling)