Abstract: Provided is a system and method for robotic interfacing. The system includes a first object having a grapple fixture and a plurality of outrigger support pillars. The system includes a second object having an end effector and a plurality of outrigger support arms. The plurality of outrigger support pillars couple to the plurality of outrigger arms to strengthen a previously designed interface between the end effector and the grapple fixture so that the interface is able to withstand increased loading for new applications.

Abstract: An apparatus for shielding a rotary interface to prevent ingress of abrasive media is provided. The apparatus includes a flat metallic ring that is installed between a rotary housing containing a rotating component and a stationary housing containing a stationary component configured to interface with the rotating component to provide rotational motion. The rotary housing is configured to couple to the stationary housing and rotate with respect to the stationary housing when coupled. The flat metallic ring is preloaded into a conical shape when installed between the rotary housing and the stationary housing.

Abstract: Robotic systems, methods, and devices for grappling and actuating a pay load are provided. A robotic end effector device includes a grapple mechanism for capturing and rigidizing a pay load through a grapple fixture. The grapple mechanism grapples a probe of the grapple fixture and retracts the probe to bring a first coupling element of the grapple fixture into mating connection with a second coupling element on the grapple mechanism. Each coupling element includes a plurality of radially-disposed teeth and notches which are configured to mate with the notches of the other coupling element. The grapple mechanism includes a pay load present sensor for sensing the probe is present in the grapple mechanism to initiate grappling and a calibration sensor for tracking position of a moving component of the grapple mechanism. Retraction of the moving component is stopped at a target preload position based on the position tracking.