Conventional robotic grippers do not permit high density close packaging of tubular components for transportation to a space assembly site. Alternative end-effector-resident pickup mechanisms presented allow compact package of cylindrical components. They are compatible with current robotic structural assembly equipment while still conforming to the usual requirements for space applications: positive hold-down, positive hand-off, launch dynamic loads. New designs are compared with end-effectors currently used in robotic structural assembly development.

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