Improved Spline Coupling For Robotic Docking

Robotic docking mechanism like one described in "Self-Aligning Mechanical and Electrical Coupling" (GSC-13430) improved. Spline coupling redesigned to reduce stresses, enchancing performance and safety of mechanism. Does not involve significant increase in size. Convex spherical surfaces on spline driver mate with concave spherical surfaces on undersides on splines in receptacle. Spherical surfaces distribute load stresses better and tolerate misalignments better than flat and otherwise shaped surfaces.