Canada arm question

I guess that's what it's called. The manipulator arm that was on the shuttle,
and the one that's now on the ISS. I was wondering how it grabbed onto whatever
it was supposed to? Did anything that it was supposed to manipulate have some
sort of a standardized attachment for it to grip? often see it with a
cylindrical end. It didn'tuse suction did it? Can you even use suction in what's
already a vacuum?

Also, given all the articulating joints on the arm, I have to believe there's a
lot of lubrication? If so, how does it not freeze up or melt down in the space
environment? Thanks.