Abstract: A double disc surface grinding machine includes a clamp band which has a non-circular outer circumferential portion. The clamp band is attached to an outer circumferential surface of a work and is housed, under the attached state, in a storage portion which has a non-circular inner circumferential portion engageable with the outer circumferential portion of the clamp band, movably in a first direction. A rotation drive unit rotates the storage portion around a first rotation shaft extending in the first direction, to make the inner circumferential portion of the storage portion engage with the outer circumferential portion of the clamp band, thereby rotates the clamp band and the work together with the storage portion. At least one of the grinding wheels is fed onto the work so as to sandwich the work with a pair of rotating grinding wheels for grinding two main surfaces of the work.

Abstract: The present invention provides a means allowing achievement of sufficient planarization of the surface of an object to be polished containing two or more types of materials. The present invention is a polishing method for polishing an object to be polished containing two or more types of materials by using a polishing composition, the polishing method including equalization of the surface zeta potential of the object to be polished.

Abstract: In a surface grinding method in which a grinding wheel is dressed with a dressing board on a chuck table by advancing the grinding wheel from a dressing start position and a workpiece on the chuck table is ground by advancing the grinding wheel, the dressing start position is calculated by measuring a thickness of the dressing board and a thickness of the grinding wheel, and the grinding start position is calculated by measuring the thickness of the grinding wheel after the dressing of the grinding wheel with the dressing board.

Abstract: Noise attenuating devices and methods, precursors and abrasive blasting masks for manufacturing noise attenuating devices are disclosed. An exemplary method disclosed herein includes bonding a facing sheet of the noise attenuating device to a cellular core and then perforating the facing sheet. Perforating the facing sheet may be performed by abrasive blasting using a mask configured to prevent the abrasive blasting of an underlying structure.

Abstract: A method of manufacturing a gear having root fillets between adjacent teeth that are shot peered to improve compressive strength. A robot moves a shot peening nozzle between adjacent teeth. A servomotor drive indexes the gear in increments corresponding to one or more teeth. The nozzle has a tapered tip that is moved between adjacent tooth faces with clearance relative to the tooth faces.

Abstract: A flexible antistatic abrasive with a combined support consisting of a plastic film, on which binder resins are applied, consisting of a “maker coat”, on which the abrasive adheres, fixed by a “size coat” and if necessary coated with a third binder, in which the plastic support film is laminated with at least one reinforcement substratum or base support and in which all the components of the combined support are treated with materials designed to provide the support with antistatic properties. Other aspects are disclosed and claimed.

Abstract: A sintered vitrified superfinishing grindstone is provided which is a sintered product which is obtained by compression molding of a mixed powder of: a sinterable vitrified binder composed of a powder of a borosilicate glass composition; hard abrasive grains; and soft abrasive grains; and which includes bonded portions formed by necking due to heat compression, between particles of the powder of the borosilicate glass composition which are in contact with each other; and wherein the sinterable vitrified binder contains from 94 to 100% by mass of a powder composed of a low-melting-point borosilicate glass composition containing from 35 to 55% by mole of SiO2; from 3 to 5% by mole of A12O3; from 10 to 35% by mole of B2O3; and from 25 to 30% by mole of R2O+RO.

Abstract: An abrasive sawing or polishing substrate includes a substrate, a binder C1 covering at least a portion of the substrate, and abrasive particles having an at least partial coating, C2. The abrasive sawing or polishing substrate also includes a coating C3 coating binder C1 and the abrasive particles coated with C2 and at least one light-emitting compound. The abrasive particles coated with C2 are in contact with binder C1 and with coating C3.

Abstract: A collet member for fixturing a workpiece includes a monolithic collet body having a clamping block engaging outer wall portion, a workpiece engaging inner wall portion, a plurality of rigid, radially extending members extending between the outer wall and the inner wall to define a plurality of cavities, and a first radial wall on a first axial side of the collet body, defining a first closed end of the plurality of cavities.

Abstract: A one-way ratchet wrench includes a body and a ratchet device. The body includes first and second compartments. The second compartment includes a first pivotal portion and a first moving portion. The ratchet device includes a ratchet wheel and a pawl. The ratchet wheel is mounted in the first compartment and is unidirectionally rotatable in relative to the body about a rotation axis. The pawl is mounted in the second compartment and includes a second pivotal portion and a second moving portion. The second pivotal portion is disposed in the first pivotal portion. The pawl is rotatable in relative to the body about a pivotal axis. The second moving portion is mounted in the first moving portion and is pivotable in relative to the body. The pawl is in face contact with the body for withstanding a reactive force during the operating process.

Abstract: A rotation angle indicating retainer assembly, wherein a retainer cap assembly (102) having a substantially hollow cylindrical shape with an upper hollow portion (202), a lower hollow portion (203), a hollow disc (209), a ring (114) having polygonal connection formations (115) and a ball bearing assembly (111); wherein a plunger/button assembly (103) having substantially cylindrical shape with a connection portion (210), a depression portion (225), a compression spring (110) and a lower retaining ring (213); wherein a rotation angle scale assembly (104) having a substantially hollow cylindrical shape with an upper hollow disc (191) with an arrow indicator (192) and a lower portion 177 having polygonal formations (178); and wherein a rotation angle indicator assembly (105) having a substantially hollow cylindrical shape with an upper rotation angle dial (240), a lower portion having a rotation angle scale (241), an upper retaining ring (242), a wave spring (243) and friction ring (244).

Abstract: A power screwdriver has a gear housing with forwardly extending output shaft and a peripheral external spline with teeth lying on a first diameter. The gear housing has a peripheral groove with groove bottom arranged rearward of the external spline. The groove bottom lies on a second diameter smaller than the first diameter. The support bracket has a fastening portion with an annular fastening flange with internal spline and a support foot arranged laterally offset from the output shaft and placed against an external counter bearing for diverting reaction torques. Internal and external splines cooperate to rotationally fix the support bracket relative to the gear housing. A locking element on the fastening flange can assume a blocking setting or a release setting. In the blocking setting, the locking element extends partially or completely into the groove and locks the support bracket to the gear housing in longitudinal direction.

Abstract: A multipurpose tire tool for quickly and easily removing and inserting valve stem cores and sensors for a tire pressure monitoring system (TPMS). Such a tool has a central body with a proximal end and a distal end. The tool further includes a variety of elements used in the removal and insertion of valve stem cores and sensors associated with TPMS. These elements may include, but are not limited to, one or more Philips head screwdriver inserts or bits, a T-10 insert or bit, a valve a core replacement tool, and a tire air fitting. In practice, the tool may be oriented in any of a variety of fashions to quickly and easily be inserted into valve stems for the removal of valve stem cores and replacement of TPMS on a wheel of an automobile.

Abstract: A system for providing a load on a bearing mounted to a shaft includes an attaching member releasably connectable to the shaft and a press mechanism in fluid communication with a source of fluid and configured to provide a compressive load to the bearing. The press mechanism includes a switch having a base and a piston in communication with the fluid such that an increase in a pressure of the fluid results in the piston extending upwardly from the base and a decrease in the pressure of the fluid results in the piston retracting toward the base. The switch includes a lower proximity sensor and a higher proximity sensor. The piston is configured to extend upwardly from the base past the lower proximity sensor and to trip the higher proximity sensor. The switch is configured to control the increase in the pressure in response to the piston tripping the higher proximity sensor.

Abstract: A pinch clamp removal tool that includes a tool body having a slot extending partially across a top portion of the tool body and adapted for receiving a nub extending radially-outwardly from a pinch clamp to be removed from a pipe and a stop positioned at an end of the slot for engaging the nub when the nub is positioned in the slot. The tool body is adapted for being rotated to impart a twist to the pinch clamp nub sufficient to break the nub in order to loosen the pinch clamp and permit removal of the clamp from the pipe.

Abstract: A chain tool has a base body being cylinder like and having a groove formed in an end of the base body, and two wall portions being formed and faced each other on two sides of the groove. The two wall portions have two side surfaces. An inner thread portion is formed on the side surfaces along a direction of groove depth, the base body is laterally penetrated by the groove along a center of inner thread portion, a bottom portion connects the two wall portions and having a through hole formed therein and being coaxial to the inner thread portion; a drive bolt having a top rod and a screw rod being movably engaged with the inner thread portion, wherein the screw rod has a drive portion placed against to the top rod, the top rod is coaxially align to the through hole.

Abstract: A hand-held drive-in device for fastening elements has a drive arrangement for a drive-in ram which is mounted so as to be movable in a guide, the ram being coupled via a transmission device to at least one drive spring element which can be tensioned via a tensioning device, wherein the transmission device and the drive spring element have masses. In order to improve the quality of setting operations, the masses of the transmission device and of the drive spring element are tailored to one another such that, when driving a fastening element at a drive-in point into a substrate, the hand-held drive-in device experiences a supporting force which acts in the direction of the substrate and serves, with the hand-held drive-in device, to exert pressure on the surroundings of the drive-in point.

Abstract: Aspects of the disclosure relate to a hammer socket including an adaptor cavity configured to be attached to another tool and a strike plate providing a surface to strike an object. The hammer socket includes a cylindrical body having a base on one end face thereof and a cylindrical head on the other end face thereof. The adaptor cavity extends into the cylindrical body through a portion of the base and forms a female adaptor configured to receive a male adaptor of the other tool. The cylindrical head is coaxial with the cylindrical body and includes the strike plate on end face of the cylindrical head opposite the base.

Abstract: A nail set includes an elongated body having a longitudinal axis, and a tool member at least partially received within the elongated body. The tool member includes a first end portion having a first punch tool, a second end portion having a second punch tool that is different from the first punch tool, a pivot axis that is perpendicular to the longitudinal axis, and a locking member. The locking member engages the elongated body to secure the tool member from rotating relative to the elongated body about the pivot axis. The tool member is movable along the longitudinal axis to disengage the locking member from the elongated body, and the tool member is rotatable about the pivot axis when the locking member disengages the elongated body.

Abstract: Aspects of the disclosure relate to a multi-tool device including a main body forming a handle, a bottle opener disposed on one end of the handle and a claw disposed on the other end of the handle. The multi-tool device is formed of a single piece of material and may include additional tools, such as a magnet cavity, strike points, pry ledge, utility holes, and a male adaptor configured to allow the attachment of the multi-tool device to other tools or accessories containing a female adaptor. The claw may include a curved portion that is split down a middle thereof to form a V-shaped opening within which a cutter may be formed. The handle may further include a ruler with metric and/or standard units of distance.

Abstract: A power tool with an ergonomic handgrip includes a housing with a rear end portion, a first front end portion, a second front end portion, and lateral sidewalls. A working end proximate the first front end portion is configured to be driven by a motor. A handle has a proximal portion coupled to the housing, a distal end portion away from the housing, a rear wall portion, a front wall portion, and a pair of sidewalls, and defines a handle axis. A trigger is coupled to the handle and defines a trigger axis. A first gripping region includes a rear concave recess on the rear end portion and a lateral concave recess extending along at least one of the lateral sidewalls generally parallel to the tool axis. A second gripping region is on the rear wall portion of the proximal portion of the handle. A third gripping region is on the second front end portion of the housing and offset rearward from first front end portion.

Abstract: Disclosed is an apparatus for use with an instrument handle, the apparatus including a housing, a knob receivable in the housing, the knob having a key hole structure to receive an instrument bulb and neck, a slot in the housing to receive the knob, wherein the knob is pressed into the slot to facilitate installation and removal of the instrument bulb and neck.

Abstract: A tool, for removal and installation of a vehicle subframe, includes a center spine having a first end, a second end and an upper surface, a mounting pad, defining a plurality of apertures, secured to the center spine, a tool crossmember defining a channel having upwardly extending sidewalls on either side thereof, a bracket having a pair of upwardly extending bracket walls and means for adjusting a space defined between the upwardly extending walls, and an adjustable attachment for the bracket operative between the bracket and the center spine to vary the distance between the crossmember and the bracket;

Abstract: In some embodiments, an exoskeleton device for providing gait/movement assistance to users, and more particularly, methods and apparatuses for attaching such devices to a limb of the users, are presented. In some embodiments, the apparatus may comprise a support, a support holder, and a retaining element for retaining the support secured to the support holder at least when the apparatus is in use. In some embodiments, the attachment of the support to the support holder may be configured so as to allow the support a range of translational and/or rotational degrees of motion.

Abstract: A load-bearing exoskeleton capable of supporting at least part of the weight of a shielding garment. Additionally, some of the user's upper-body weight, resulting from the rotational moment about the hip caused by the user's trunk in flexion, may be supported. The load-bearing exoskeleton may be a completely passive orthosis, or it may include one or more active orthotic elements. The exoskeleton may include one or more sagittally-extending load-bearing structures that provide a supportive force to counteract at least some of the weight of the shielding garment. The exoskeleton may include a shielding garment attachment mechanism, a pelvis assembly, and one or more leg assemblies that are configured to allow for user movement when in one or more unlocked positions, while facilitating a greater transmission of weight of a shielding garment when in one or more locked positions.

Abstract: A robot system which includes a manipulator, slave arm, an output device, a storage device and a control device. Control device is configured, after a given first process, to output to the output device an inquiry of asking which operating mode among three operating modes of an automatic operation mode, manual operation mode, and hybrid operation mode the slave arm is to be operated in a second process, and execute first operation processing in which, when selected information for instructing the operating mode selected from the three operating modes is inputted, the selected information is stored in the storage device, and second operation processing in which, when the number of times that first selected information is stored in the storage device becomes equal to or more than a first threshold number of times, the selected operating mode is outputted to the output device after the first process is ended.

Abstract: The present disclosure is directed to methods, computer program products, and computer systems for instructing a robot to prepare a food dish by replacing the human chef's movements and actions. Monitoring a human chef is carried out in an instrumented application-specific setting, a standardized robotic kitchen in this instance, and involves using sensors and computers to watch, monitor, record and interpret the motions and actions of the human chef, in order to develop a robot-executable set of commands robust to variations and changes in the environment, capable of allowing a robotic or automated system in a robotic kitchen to prepare the same dish to the standards and quality as the dish prepared by the human chef.

Abstract: A traveling system for a handling device with at least one guide element, with at least one carriage body, which is moveable by the guide element in a guided way in at least one plane of movement and on which or upon which at least one handling device can be fixed or is fixed, with at least one drive element by means of which the carriage body is driveable for a movement at least along the guide element, and with at least one cable guide that is connected to the carriage body, which includes a cable guide housing which includes a plurality of housing elements linked to each other, where two adjacent housing elements are movable relative to one another and about a common axis of rotation. At least one cable is also arranged or can be arranged, which is connectible or connected with one end to the handling device.

Abstract: In various embodiments, a tool plate configured to receive a robotic end effector is removably matable with a robot appendage via a quick-release mechanism.

Abstract: The present invention discloses a servo control system and a servo. A servo control system includes a main control module; and a communication module including a first communication interface, a second communication interface and a control switch unit. First communication terminal and second communication terminal of the control switch unit are correspondingly coupled to the first communication interface and the second communication interface. First enabling port and second enabling port of the control switch unit are correspondingly coupled to two enabling terminals of the main control module.

Abstract: The present invention discloses a servo control system and a robot. The servo control system is applied to a servo and includes a main control module and a driving module including a driving circuit and an electronic switch circuit. The driving circuit is coupled to the main control module. The electronic switch circuit is coupled between the driving circuit and a driving motor of the servo. Wherein, the driving circuit receives a control signal outputted by the main control module and outputs a driving signal according to the control signal. The electronic switch circuit outputs a driving pulse to the driving motor according to the driving signal, to control, the rotation of the driving motor. In the above manner, it can be convenient for heat dissipation and strengthens the driving capability.

Abstract: The present invention discloses a servo control system and a robot. The servo control system is applied to a servo and includes a main control module and a communication module including a first communication port, a second communication port, a third communication port, a fourth communication port, a voltage balancing circuit and a balance voltage output terminal. The balance voltage output terminal is coupled to the third communication port and the fourth communication port through the voltage balancing circuit. The main control module sends a first communication signal to the host computer via the first communication port, and receives a second communication signal transmitted from the host computer via the second communication port. The balance voltage output terminal controls a common mode voltage difference between the first communication signal and the second communication signal via the voltage balancing circuit. In the above manner, identification numbers of servos can be reassigned.

Abstract: A robot system includes a robot including a hand for holding a workpiece; a sensor for measuring a work area in which the workpiece exists to obtain a three-dimensional shape in the work area as measurement data; a measurement data processing device including a model data storage unit, a measurement data correction unit, a position and orientation calculation unit; and a robot control unit for control the robot based on an output from the position and orientation calculation unit, wherein the measurement data correction unit in a learning stage, creates teacher data by arranging the model data in the position and the orientation calculated by the position and orientation calculation unit and adjusts a parameter for correcting the measurement data based on the measurement data and the teacher data, and in a picking stage, outputs corrected measurement data obtained by correcting the measurement data using the adjusted parameter.

Abstract: This method of controlling an automated work cell provided with a robot arm comprises the steps of: a) calculating Cartesian instructions corresponding to the nominal articular instructions; b) calculating actual articular instructions from the Cartesian instructions, taking into account actual geometrical parameters of the robot arm; c) calculating for each nominal articular instruction and from the actual articular instruction, an articular instruction correction value; d) calculating, for each nominal articular instruction and from the calculated articular correction instruction, an effective articular instruction; e) calculating control instructions for each motor controller from the calculated effective articular instructions; f) transmitting the motor control instructions to each motor controller.

Abstract: A control device includes a learning control part in which a difference is calculated between a target position and an actual position of a portion detected based on a sensor, and an operation-speed change rate is increased or reduced several times within a maximum value of the operation-speed change rate set for increasing or reducing the operation speed of a robot mechanism unit and within allowance conditions of vibrations occurring at the portion to be controlled; meanwhile, learning is repeated to calculate an updated compensation amount based on the difference and a previous compensation amount previously calculated for suppressing vibrations at each operation-speed change rate, and a convergent compensation amount and a convergent operation-speed change rate are stored after convergence of the compensation amount and the operation-speed change rate.

Abstract: Embodiments relate to systems and methods for managing an autonomous robot in a retail environment. A system for managing an autonomous robot in a retail environment generally includes an external vendor robot task request system, a retailer robot task scheduling system, and an autonomous robot located in the retail environment. The retailer robot task scheduling system receives an external vendor robot task request from the external vendor robot task request system, combines the external vendor robot task request and an internal retailer-defined task into a robot task list, and communicates the robot task list to the autonomous robot.

Abstract: A plurality of arm mechanisms coupling a base and a bracket, each arm including an arm whose proximal end portion is swingably coupled to the base, parallel pair of links, the pair of links being disposed such that a proximal-end-side link sandwiched portion of the arm is rotatably sandwiched between proximal end portions of the respective links; a distal-end-side link sandwiched portion of the bracket is rotatably sandwiched between distal end portions of the respective links; a link dislocation detection unit mounted to the pair of links; and a controller configured to control an operation of the arm. The link dislocation detection unit includes a detector mounted to a middle portion of one of the pair of links, the detector detecting the middle portion of one of the pair of links and a middle portion of the other pair of links spaced apart by more than a predetermined distance.

Abstract: A device for positioning a processing tool: a processing tool for processing the to-be-processed workpiece's surface while pressing the surface to be processed; a movement mechanism able to displace processing tool's distal end in a first direction orthogonal to the surface to be processed and/or a second direction parallel with the surface to be processed; a force sensor able to detect a force in the first and second direction applied to the processing tool's distal end pressed onto the surface to be processed; and a control device for executing a correction step for controlling the movement mechanism so the surface to be processed is pressed while the distal end's position of the processing tool is aligned with a processing reference position on the surface to be processed, and correcting the processing tool's position so that the force in the second direction is within a specific value or less.

Abstract: A mobile robot includes a mobile robot body, a drawing unit provided at the mobile robot body and including a marker configured to draw a travel locus of the mobile robot on a travel plane, and a detector provided at the mobile robot body and configured to detect the travel locus drawn by the drawing unit. The mobile robot travels along the travel locus detected by the detector.

Abstract: A robot system including: a robot and a controller, the controller is configured to conduct: a region generating process that generates a robot inclusion region which includes the robot and the like and whose area increases as a speed of the robot increases, an entry prohibited region near the robot, and a speed limit region along the robot side edge of the entry prohibited region; an entry detecting process that detects whether or not the generated robot inclusion region enters the entry prohibited region or the speed limit region; a speed limiting process that reduces operating speed of the robot if the robot inclusion region enters the speed limit region; and a power cutoff unit that immediately stops the robot if the robot inclusion region enters the entry prohibited region.

Abstract: A robotic system that is used in a tele-presence session. For example, the system can be used by medical personnel to examine, diagnose and prescribe medical treatment in the session. The system includes a robot that has a camera and is controlled by a remote station. The system further includes a storage device that stores session content data regarding the session. The data may include a video/audio taping of the session by the robot. The session content data may also include time stamps that allow a user to determine the times that events occurred during the session. The session content data may be stored on a server that accessible by multiple users. Billing information may be automatically generated using the session content data.

Abstract: An objective is to provide a position and posture adjustment method capable of promptly adjusting the position and the posture of a robot with respect to a workpiece while making variations caused by the operator small.

Abstract: A continuum robot comprising: a first segment defining a first end and a second end, the first segment including a first actuator coupled to the second end and configured to control movement of the second end relative to the first end; and a first elastic strain sensor coupled to the first segment and positioned between the first end and the second end, the first elastic strain sensor being configured to provide a first output signal associated with the movement of the second end relative to the first end.

Abstract: An apparatus, robot, method and recording medium is provided, wherein when it is determined that a speech of an adult includes a warning word, whether the adult is angry or scolding is determined based on a physical feature value of the speech of the adult. When it is determined that the adult is angry, at least any of the following processes is performed: (a) a process of causing a loudspeaker to output a first sound, (b) a process of causing an apparatus to perform a first operation, and (c) a process of causing a display to perform a first display.

Abstract: A carrier system and method carries a plate-like object to an object mounting member provided with an object mounting section. The system includes an adjustment device that changes a shape of the plate-like object into a predetermined shape before the plate-like object is mounted onto the object mounting section. The plate-like object whose shape is changed into the predetermined shape is mounted onto the object mounting section.

Abstract: A manipulator system configured to perform a work to a workpiece being moved by a moving device, includes a robotic arm, having one or more joints and to which a tool configured to perform the work to the workpiece is attached, an operating device configured to operate the robotic arm, a first imaging means configured to image the workpiece, while following the movement of the workpiece, a second imaging means fixedly provided in a work area to image a situation of the work to the workpiece, a displaying means configured to display an image imaged by the first imaging means and an image imaged by the second imaging means, and a control device configured to control the operation of the robotic arm based on an operating instruction of the operating device, while detecting a moving amount of the workpiece being moved by the moving device and carrying out a tracking control of the robotic arm according to the moving amount of the workpiece.

Abstract: Provided is a machine system including a machine including a movable part; a control device; a sensor detecting information about the movable part during a predetermined operation of the machine; a transmitting unit wirelessly transmitting the detected information during the predetermined operation; a receiving unit receiving the wirelessly transmitted information; a storage unit storing the received information; a detection unit detecting a loss in the received information; a command unit causing the machine to repeat the predetermined operation, in a case where a loss in the information is detected; a determination unit determining whether or not every lost part of the information detected first is contained in the information detected during the repeated operation; and an complementing unit ending the repeated operation in a case where every lost part is determined to be contained and complementing the information detected first with the information detected during the repeated operation.

Abstract: A remote-control manipulator system includes a manipulator configured to receive a manipulating instruction from an operator, a slave arm configured to perform a series of works comprised of a plurality of processes, a camera configured to image operation of the slave arm, a display device configured to display an image captured by the camera, a storage device configured to store information related to environment in a workspace as an environment model, and a control device. The control device is configured, while operating the slave arm manually or hybridly, to acquire circumference information that is information related to a circumference area of an area imaged by the camera based on the environment model stored in the storage device, and display on the display device so that the image captured by the camera and the circumference information are interlocked.

Abstract: A system, apparatus, and method is configured to retrieve items and particularly items that are stored in high-density storage solutions. The system can include one or two-piece manipulators with retractable grippers. The manipulators can be relatively low profile and/or low friction to facilitate their placement between a target item and adjacent items on densely packed shelves or trays. In a retracted position, the grippers can be stowed beneath the surface of the manipulators to further facilitate the placement of the manipulators. In a deployed position, the grippers can extend above the surface of the manipulators to increase the contact area, coefficient of friction, and/or surface pressure of the manipulators on the target item. The grippers can enable the manipulators to be thinner than would otherwise be possible to enable retrieval of items from tightly packed storage solutions—e.g., warehouses with higher gross cubic utilization (GCU).

Abstract: A robotic gripper for rigidly grasping a section of a Marman ring of a satellite, the robotic gripper having an outboard jaw which interfaces to an outer diameter side of the Marman ring, a inboard jaw which interfaces to an inner diameter side of the Marman ring, and a palm which interfaces to a separation surface of the Marman ring. The jaws, when grasping the section of the Marman ring, execute a two-stage motion comprising a first movement toward the opposing jaw in a direction parallel to the palm, and a second movement of drawing the Marman ring down against the palm or other suitable surface in order to fully rigidize the grasp.