Abstract: An end effector includes first and second jaw members that are pivotable relative to one another between open and clamped configurations about a pivot axis. The first and second jaw members each define a pivot hole which defines the pivot axis. The first and second jaw members also each define an articulation axis that is orthogonal to the pivot axis and position distal of the pivot axis. The first and second jaw members are articulatable about the articulation axis between straight and fully articulated configurations.

Abstract: A scoring machine incorporated in a sheet folding apparatus forms scores on sheets according to a folding pattern. The scoring machine comprises upper and lower rotary shafts provided with pairs of convex and concave rollers, and a positioning unit slidably attached to a slide guide. When a rotatable member is arranged at a standing position, the convex roller engages with a groove on one end face of the rotatable member, or the concave roller engages with a projection on the other end face of the rotatable member. A sequence pattern of the pairs of convex and concave rollers on the upper and lower rotary shafts corresponding to the folding pattern is displayed on a display. The positioning unit stops at the specified positions of the pairs of convex and concave rollers while sliding.