Abstract: In a preferred embodiment, a fluid-operated cylinder to provide both linear and rotary motion to tooling, including: a cylindrical, rotatable member for attachment to rotatable means; a circular piston disposed in the cylindrical, rotatable member for back and forth axial motion in a cavity defined therein and rotatable by rotation of the cylindrical, rotatable member; a first port defined through the cylindrical rotatable member to introduce pressurized fluid into the cavity on a first side of the circular piston such as to cause the circular piston to move in a first direction; and a piston shaft fixedly attached to the circular piston and fixedly attachable to the tooling; whereby: when the rotatable member is rotated, rotary motion will be transmitted to the tooling by the piston shaft, and when the pressurized fluid is introduced into the cavity on the first side of the circular piston, the piston shaft will cause the tooling to move in the first direction.

Abstract: In a preferred embodiment, a fluid-operated cylinder to provide both linear and rotary motion to tooling, including: a cylindrical, rotatable member for attachment to rotatable means; a circular piston disposed in the cylindrical, rotatable member for back and forth axial motion in a cavity defined therein and rotatable by rotation of the cylindrical, rotatable member; a first port defined through the cylindrical rotatable member to introduce pressurized fluid into the cavity on a first side of the circular piston such as to cause the circular piston to move in a first direction; and a piston shaft fixedly attached to the circular piston and fixedly attachable to the tooling; whereby: when the rotatable member is rotated, rotary motion will be transmitted to the tooling by the piston shaft, and when the pressurized fluid is introduced into the cavity on the first side of the circular piston, the piston shaft will cause the tooling to move in the first direction

Abstract: A remotely operated hand gear train for the orientation of an end effector has an external housing mounted onto a robot arm and defines a first axis A.sub.1. A first housing is rotatably mounted within the external housing for movement about the first axis A.sub.1 and defines therein a second axis A.sub.2 which is substantially perpendicular to the first axis A.sub.1. A second housing is rotatably mounted in the first housing for rotation about the second axis A.sub.2 and defines therein an axis A.sub.3 which is normal to axis A.sub.2 and radially spaced from axis A.sub.1. A third housing is rotatably mounted in the second housing for rotation about axis A.sub.3 and has a gear rack circumferentially disposed about the end thereof.