US Patent 9656394 Robotic system with reconfigurable end-effector assembly

A robotic system includes a robotic arm and an end-effector assembly movably coupled to the robotic arm. The end-effector assembly includes a main boom, a frame rail coupled to the main boom, and a plurality of tool branches movably coupled to the frame rail. Each tool branch includes a branch rail movably coupled to the frame rail, a lock coupling the branch rail to the frame rail, and a protrusion coupled to the first lock. The robotic system also includes a configuration tool movably coupled to the robotic arm. The configuration tool includes including a tool body, a gripper coupled to the tool body, and a driver bit extending from the tool body.