Here's the flange for the robot. Note colors for locations of pins on interface plate. Red - Anvil Pin Blue - Other Pins Orange - Spring Pin. - ppt download
Diy 6dof Robot Parts 10mm Diameter Manipulator Mechanical Extension Arm Flange Rod Metal Aluminum Alloy Robot Extension Arm - Action Figures - AliExpress
MFI-A374-B
DGRM · Millibar Robotics
How To Install the LSR+ Flange on an OTC Daihen Robot - Tregaskiss and Bernard