Control devices for end effectors, systems including same, and related methods

Abstract

The disclosure relates to a control device for an end effector, a system including the same, and a related method. End effectors and systems may capture, release, and / or create mating engagement between the end effector and a target object, such as for use in capture and firing, gripping, or pick-and-place applications. The end effector may tolerate position and rotational misalignment of the target object, and the end effector may include a plurality of rollers, one or more of which are arranged in a non-parallel plane with respect to one or more of the other rollers. A control device enables these and other end effectors to be operated in a system that can be used by a single operator in a handheld or wearable shape. The control device may include a drive system for power transmission, manual and automatic leveling or angle positioning mechanisms, and / or operator mounting features. Methods may involve performing capture and release, pick and place, and / or grip operations using the disclosed control device and one or more end effectors coupled thereto.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to U.S. patent application Ser. No. 17 / 551,049, filed on December 14, 2021, entitled “END EFFECTORSWITH MULTI-AXIS ROLLER WHEELS, SYSTEMS INCLUDING THE SAME, AND RELATEDMETHODS,” the entire disclosure of which is incorporated herein by reference. Technical Field

[0003] The present disclosure relates generally to end effectors and, more particularly, to a portable system capable of operating an end effector having two or more rollers configured to capture and / or release an object via a passive receptacle. Background Art

[0004] The ability to grasp, capture, or interface with an aircraft, such as an unmanned aerial vehicle (UAV) or other small hovering aircraft, is often desirable, particularly when requiring the aircraft to land in a safe location is a concern for operators of these types of vehicles. For example, landing, grasping, capturing, and / or interfacing with such an aircraft can be difficult when operating in adverse and / or unpredictable conditions (e.g., windy weather), in rough terrain without a flat landing location, and / or when operating from a mobile platform (e.g., a vessel or boat). Safely releasing or launching such an aircraft under these conditions can also be challenging.

[0005] While some systems exist that address some of these issues, these solutions may not be suitable for hovering UAVs, such as four-motor or coaxial rotor vehicles. Attempts have been made to capture hovering vehicles from the air using conventional articulated robotic grippers or locking interface devices combined with low-latency vision systems and high-speed robotic manipulation arms that can be rapidly actuated to grasp interface receptacles on moving vehicles. Safely and consistently capturing a hovering aircraft or other target object typically requires a high-speed vision system to achieve precise alignment with the moving target object, as well as accurate three-dimensional positioning and timing, which is complex, can be expensive, and difficult to maintain in the field. Furthermore, misalignment between these types of grippers and the target object (such as due to a limited range of feasible approach angles) poses a risk of damage to the target object when attempting to capture it, thus allowing little or no error tolerance. These challenges are magnified by the often rapidly changing position and orientation of the aircraft or other object relative to the capture device (either or both of which may be in motion).

[0006] Capturing flying or hovering objects that can move with six degrees of freedom requires either very precise alignment of the gripper or a gripper that can tolerate significant misalignment with the hovering object. The challenges of approaches that rely on very precise alignment are discussed above. Other existing types of grippers and end effectors are not suitable for gripping hovering vehicles and the like because they do not support multi-axis misalignment to allow for the multi-dimensional capture required when capturing hovering vehicles. There remains a need for a portable and self-contained system that can be used by an operator to capture or interface with unmanned aerial vehicles and other target objects, which system allows the target object to be approached from any angle covering a full 360 degree range of azimuths, and which system can tolerate adverse and unpredictable conditions that may result in misalignment of the target object. Summary of the Invention

[0007] The presently disclosed systems and control devices for end effectors can be configured to capture, release, and / or coordinate between an end effector and a hovering UAV or other target object (also referred to herein as an "object") via a portable, standalone system that can be controlled by a single operator. The control devices and systems can be provided in a handheld or wearable form factor, and the end effector can be configured to provide multi-axis capture capabilities that tolerate positional and rotational misalignment of the target object, including the ability to capture objects with a full 360-degree range of near azimuth angles relative to the end effector. The systems and control devices described herein can be used with end effectors configured for capturing and launching UAVs, general gripping operations, and / or for pick and place applications. Furthermore, the end effectors can be configured to operate in manual or automated modes from a stationary or mobile platform. The end effectors can be modular, allowing them to be configured or reconfigured for different applications. The disclosed end effector generally includes a plurality of multi-directional rollers; at least one of the plurality of multi-directional rollers lies in non-parallel rotational planes, but they can be arranged in a number of different patterns and arrangements of axes.

[0008] In a representative example, a control device for positioning and operating an end effector may include one or more elongated support arms, a mount, and an input device (such as one or more handles). Each of the one or more elongated support arms extends from a proximal end to a distal end, and the mount may be configured to engage the end effector. The mount may be coupled to the distal end of or within the distal region of at least one of the one or more elongated support arms. The input device may be operably coupled to at least one of the one or more elongated support arms and configured to transmit input from an operator to the end effector via the at least one elongated support arm. Such a control device may be configured to automatically control the angular position of the end effector through the range of motion of the one or more elongated support arms.

[0009] The disclosed system includes a control device and an end effector, the control device being designed to control the end effector. In a representative example, the end effector includes a first roller configured to rotate in a first plane and a second roller configured to rotate in a second plane. The second plane may be non-parallel to the first plane, wherein the first and second rollers are arranged relative to each other such that the end effector is configured to capture an object via the first and second rollers and is further configured to selectively release the object from the first and second rollers. In other disclosed systems, different types of end effectors may be used with the disclosed control device.

[0010] Another representative example of the disclosed control device includes one or more elongated support arms, wherein each of the one or more elongated support arms extends from a proximal end to a distal end. At least one of the one or more elongated support arms may include a bend such that a first portion of the at least one elongated support arm is disposed at a non-parallel angle relative to a second portion of the at least one elongated support arm. The bend of the at least one elongated support arm may be selectively removable from the at least one elongated support arm and selectively replaceable with an angled element configured to change the non-parallel angle between the first portion and the second portion of the at least one elongated support arm. A mount configured to engage an end effector may be coupled to a distal end of the at least one elongated support arm or within a distal region of the at least one elongated support arm. Additionally, an input device may be operably coupled to the at least one elongated support arm such that the input device is configured to transmit input from an operator to the end effector via the at least one of the one or more elongated support arms.

[0011] The disclosed methods of capturing or otherwise engaging an object may include coupling an end effector to a mount of the disclosed control device and moving one or more elongated support arms to position the end effector to manipulate, capture, and / or engage with the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a top plan schematic diagram of non-exclusive examples of end effectors and systems including end effectors according to the present disclosure.

[0013] Figure 2 is a side schematic diagram of non-exclusive examples of end effectors and systems including end effectors according to the present disclosure.

[0014] Figure 3 is a schematic side view of a passive receiving seat close to an end effector according to the present disclosure.

[0015] Figure 4 is a schematic side view of a passive receptacle during capture by an end effector according to the present disclosure.

[0016] Figure 5 is a schematic side view of a passive receptacle effectively locked in place by an end effector, the passive receptacle having been captured by the end effector.

[0017] Figure 6 is a side schematic view of a passive receptacle during launch or release from an end effector according to the present disclosure.

[0018] Figure 7 is a side view schematic diagram of a passive receptacle that is misaligned relative to the end effector position.

[0019] Figure 8 is a schematic side view of a passive receptacle that is rotationally misaligned relative to the end effector.

[0020] Figure 9 is a side view schematic diagram of a passive receptacle that is misaligned relative to the end effector position.

[0021] Figure 10 is a side schematic view of a passive receptacle in the process of being captured by an end effector according to the present disclosure.

[0022] Figure 11 is a schematic side view of a passive receptacle effectively locked in place by an end effector, the passive receptacle having been captured by the end effector.

[0023] Figure 12 Schematic side view of launching a passive receiving seat from an end effector according to the present disclosure.

[0024] Figure 13 is a side view schematic diagram of a passive receptacle that is misaligned relative to the end effector position.

[0025] Figure 14is a schematic side view of a passive receptacle that is rotationally misaligned relative to the end effector.

[0026] Figure 15 is a front view of an example of an end effector according to the present disclosure, wherein a cylindrical passive receptacle is captured therein.

[0027] Figure 16 is a side view of an example of an end effector according to the present disclosure having a separate motor for each respective roller of the end effector.

[0028] Figure 17 is a perspective view of an example of an end effector according to the present disclosure having a single drive motor configured to drive three rollers of the end effector.

[0029] Figure 18 is a top plan schematic illustration of an external drive gear variation of an end effector of the present disclosure having an external control gear ring and a plurality of radially spaced spur gears configured to drive rollers.

[0030] Figure 19 is a top plan schematic illustration of an internal drive gear variation of an end effector of the present disclosure having a central control gear and a plurality of radially spaced spur gears configured to drive rollers.

[0031] Figure 20 A side view of a portion of an example of an end effector of the present disclosure showing a bevel gear implementation for driving rollers.

[0032] Figure 21 A side view of a portion of an example of an end effector of the present disclosure showing a worm gear implementation for driving a roller.

[0033] Figure 22 is a side view of an example of a passive receptacle captured by an example of an end effector according to the present disclosure.

[0034] Figure 23 is a side view of an example of a UAV captured by an end effector of the present disclosure via a passive receptacle.

[0035] Figure 24 is a perspective view of an example of an end effector of the present disclosure, the end effector being configured to correct positional deviation of a passive receptacle.

[0036] Figure 25 Show Figure 24 The passive receiving seat and the end effector, the passive receiving seat is captured by the end effector.

[0037] Figure 26is a schematic top plan view of a modular central hub for an end effector of the present disclosure.

[0038] Figure 27 is a top plan view of a non-exclusive example of an end effector of the present disclosure, the end effector being configured to be selectively adjusted for different annular receptacle sizes and / or roller angles, the end effector being shown in a first configuration.

[0039] Figure 28 is shown in the second configuration Figure 27 A top plan view of a non-exclusive example of an end effector of the present disclosure.

[0040] Figure 29 is a top plan view of an example of an end effector of the present disclosure having two rollers and a backstop.

[0041] Figure 30 is a side view schematic diagram of an example of an end effector of the present disclosure having two rollers and a backstop.

[0042] Figure 31 is a schematic flow chart illustrating a method according to the present disclosure.

[0043] Figure 32 is a side schematic diagram of an example of a control device according to the present disclosure.

[0044] Figure 33 A side schematic diagram illustrating an example of a control device according to the present disclosure showing a wrist joint in a first orientation.

[0045] Figure 34 yes Figure 33 Schematic side view of a control device showing the wrist joint in a second position.

[0046] Figure 35 is a schematic side view of an example of a control device having a four-bar linkage.

[0047] Figure 36 A diagram showing the operator positioning the control device relative to the target object.

[0048] Figure 37 yes Figure 36 Schematic diagram of the operator and control devices, wherein the control devices are Figure 36 Positioning at different angles.

[0049] Figure 38 is a front view of an illustrative, non-exclusive example of a mount and end effector of a control device of the present disclosure.

[0050] Figure 39 yes Figure 38Exploded front view of the mount and end effector.

[0051] Figure 40 is a perspective view of an example of a passive receptacle for capturing a target object.

[0052] Figure 41 is a schematic top plan view of an example of a passive receptacle for capturing a target object.

[0053] Figure 42 is a schematic diagram of an operator capturing an object using the disclosed control device.

[0054] Figure 43 is a schematic diagram of the disclosed control apparatus coupled to a fixed robotic arm and configured to capture a hovering target object.

[0055] Figure 44 is a schematic diagram of the disclosed control apparatus coupled to a mobile robot and configured to capture a hovering target object.

[0056] Figure 45 is a schematic diagram of the disclosed control apparatus coupled to a vessel-based system and configured to capture a hovering target object.

[0057] Figure 46 is a schematic diagram of an operator performing a pick and place operation using the disclosed control device.

[0058] Figure 47 is a schematic diagram of a disclosed control device coupled to a fixed robotic arm and configured for pick and place operations of a target object.

[0059] Figure 48 is a schematic diagram of the disclosed control device connected to a mobile robot and configured for pick and place operations of a target object.

[0060] Figure 49 is a schematic flow chart illustrating a method according to the present disclosure. DETAILED DESCRIPTION

[0061] Figures 1 to 14 Illustrative, non-exclusive examples of systems 12 and end effectors 10 according to the present disclosure are provided. Elements serving similar or at least substantially similar purposes are provided in Figures 1 to 14 The same reference numerals are used in each of the figures, and these elements may not be referred to herein. Figures 1 to 14 Each figure in is discussed in detail. Similarly, Figures 1 to 14 Not all elements may be labeled in each figure, but for consistency, reference numerals associated therewith may be used herein. Without departing from the scope of the present disclosure, reference is made herein to Figures 1 to 14Elements, components and / or features discussed in one or more of the figures may be included in Figures 1 to 14 Any of and / or used together with. Additional schematics are later in Figure 18-19 and Figures 26-30 , which also follows the above conventions. Generally speaking, elements that may be included in a given (i.e., specific) example are shown in solid lines, while elements that are optional for a given example are shown in dashed lines. However, elements shown in solid lines are not required for all examples, and elements shown in solid lines may be omitted from a specific example without departing from the scope of this disclosure.

[0062] Figures 1 to 2 An example of an end effector 10 of a system 12 of the present disclosure is schematically represented. Figure 1 Schematically shows a non-exclusive example of an end effector 10 viewed from a top plan view, and Figure 2 A non-exclusive example of an end effector 10 is schematically shown as viewed from a side elevation. The end effector 10 includes at least a first roller 14 and a second roller 16, and may include one or more additional rollers, such as a third roller 18, which is shown in FIG. Figure 1 is indicated in Figure 2 Some examples of the end effector 10 include a fourth roller and / or even further additional rollers.

[0063] One or more rollers (e.g., rollers 14, 16, 18) rotate in different (e.g., non-parallel) respective planes and / or about different respective axes than one or more other rollers. In some examples, in a given end effector 10, each roller may rotate in a different respective plane and about a different respective axis than the rollers. In some examples, two rollers may rotate in the same plane, while another two rollers may rotate in different planes. In other words, in examples of end effectors 10 having an even number of rollers (but greater than three rollers), one or more pairs of rollers may share a plane of rotation. In some examples, the first roller 14 may be considered to rotate in a first plane, and the second roller 16 may be considered to rotate in a second plane, where the first and second planes are non-parallel to each other. In examples of end effectors 10 that include a third roller 18, the third roller 18 may rotate in a third plane that is non-parallel to the plane of rotation of the first roller 14 and / or the plane of rotation of the second roller 16. Additionally or alternatively, one or more planes of rotation of the rollers 14, 16, 18 may be at least substantially perpendicular to the support base 38 supporting the rollers. Additionally or alternatively, one or more planes of rotation of the rollers 14, 16, 18 may be arranged at a non-perpendicular angle relative to the support base 38. The rollers 14, 16, 18 may be arranged such that the first plane, the second plane, and / or the third plane intersect one another.

[0064] In some examples, some or all of the respective rollers 14, 16, and / or 18 may rotate about different and / or non-parallel respective axes, which are shown in the figures for illustrative purposes. In some examples, each respective roller of the end effector 10 rotates about a different respective axis. In some examples, one or more rollers of the end effector 10 may rotate about an axis that is at least substantially parallel to one or more other rollers of the end effector 10. In some examples, at least one roller of the end effector 10 rotates about an axis that is not parallel to at least one other roller of the end effector. Figure 1 As shown, the first roller 14 is rotatable about a first axis 20, the second roller 16 is rotatable about a second axis 22, and the third roller 18 is rotatable about a third axis 24. Figure 1As shown, each of the first axis 20, the second axis 22, and the third axis 24 are arranged at a non-parallel angle relative to each other. In some examples, each of the first axis 20, the second axis 22, and the third axis 24 are arranged at a non-perpendicular angle relative to each other, but in some examples of the end effector 10, one or more of these axes may be at least substantially perpendicular to each other and / or arranged at different angles relative to each other. As discussed herein, the end effector 10 can include additional rollers and / or rollers arranged at different spacings, orientations, and / or patterns. The representative example will primarily be described as having three rollers 14, 16, and 18, but the end effector 10 according to the present disclosure is not limited thereto.

[0065] The end effector 10 is configured to selectively capture, engage, and / or release an object 26 via two or more rollers (e.g., rollers 14, 16, and / or 18). The end effector 10 can be configured to capture and engage an object 26 approaching from any direction, thereby allowing for a full 360-degree range of azimuth angles. This allows the disclosed end effector 10 to tolerate misalignment in any direction, which is not possible with prior art systems. The rollers 14, 16, 18 can be oriented and arranged relative to each other to enable the disclosed end effector 10 to have such capabilities. For example, in an end effector 10 having three rollers 14, 16, 18, the rollers can be arranged and oriented such that each respective roller rotates about a different, respective, non-parallel axis. This arrangement can enable the end effector 10 to capture an object 26 approaching from a full 360-degree range of azimuth angles, although other arrangements disclosed herein may also have this capability.

[0066] The rollers 14, 16, 18 can rotate in opposite, respective directions for capturing and releasing the object 26. For example, the rollers 14, 16, 18 of the end effector 10 can rotate in a first, respective direction when capturing or engaging the object 26, and can then reverse to rotate in the opposite, respective direction to selectively release the object 26. In other words, each roller 14, 16, 18 can be configured to selectively reverse between two opposite rotational directions. In some examples, the rotational direction of the rollers 14, 16, 18 in one configuration can be referred to as "inward" (e.g., the rollers 14, 16, 18 can rotate toward the interior space 50 between the rollers), and "outward" when the rollers rotate in opposite directions. During capture, engagement, and / or release of the object 26, one or more rollers 14, 16, 18 can rotate in a different direction than one or more other rollers 14, 16, 18. Additionally or alternatively, the rotational speed of one or more of the rollers 14 , 16 , 18 may be selectively increased or decreased during capture or release of the object 26 .

[0067] The object 26 can float, hover, position, and / or fly above, beside, below, and / or adjacent to the end effector 10 in various applications for capturing and / or engaging the object 26. The end effector 10 may additionally or alternatively be configured to capture or engage a stationary object 26 while the end effector 10 moves toward the stationary object 26. The end effector 10 is designed to capture and / or engage the object 26 even when the object 26 is misaligned with the end effector 10 along one or more positional and / or rotational axes. To capture, engage, and / or release the object 26, the end effector 10 is configured to engage a passive receptacle 44 of the object 26. The passive receptacle 44 may be integrally formed with the object 26 or may be permanently or temporarily coupled to the object 26. The passive receptacle 44 is generally arranged relative to the object 26 such that the passive receptacle 44 is configured to be oriented toward the end effector 10 during capture of the object 26. In other words, when the object 26 approaches the end effector 10 (or vice versa), the object 26 can be configured so that the passive receptacle 44 reaches the end effector 10 first to facilitate engagement between the end effector 10 and the passive receptacle 44, rather than contact with a different portion of the object 26.

[0068] Figure 2 The schematic representation of the object 26 in the form of a UAV hovering above the end effector 10, but the system 12 is not limited thereto. For example, the object 26 may be a hovering or other type of aircraft (e.g., a UAV, drone, or manned aircraft), a package, a load, a cable end, and / or an emergency device configured to carry and / or lift a person or animal. In some examples, the end effector 10 may engage the object 26 under adverse and / or unpredictable conditions, such as when refueling an aircraft in flight. In examples involving a UAV or other aircraft as the object 26, the aircraft may be a fixed-wing aircraft, a quadcopter, a helicopter, a multirotor aircraft, a rotorcraft, a military aircraft, a vertical take-off and landing (VTOL) aircraft, a short take-off and vertical landing (STOVL) aircraft, a low-observable UAV, and / or an aircraft without landing gear. Other types of objects 26 may be equipped with a passive receptacle 44 to engage the end effector 10 disclosed herein for use with the disclosed system 12.

[0069] The disclosed system 12 and end effector 10 can be used to capture and / or release aerial vehicles, and / or to lift and / or load packages or loads, and can be used in commercial, military, and / or personal applications. The system 12 and end effector 10 can address the shortcomings of conventional solutions because the disclosed end effector 10 and system 12 can be configured to capture and / or engage objects under adverse and / or unpredictable conditions and / or in the presence of positional and / or rotational misalignments between the end effector and the object (such as when the end effector and / or object are in motion). In other examples, the system 12 can be used in applications involving mating components, such as in manufacturing (e.g., robotic material handling), aerial refueling systems, and agricultural uses (e.g., picking fruit and other produce). Compared to conventional solutions, the disclosed system 12 and end effector 10 can result in cost savings and / or cost avoidance, for example due to the avoidance or reduction of injuries and / or hardware wear. In some examples, the end effector 10 and system 12 can improve safety for both the operator and the captured or engaged object 26 compared to conventional solutions. The system 12 and end effector 10 of the present disclosure also advantageously have the ability to operate in three-dimensional space, with multi-axis capture capabilities. The system 12 and end effector 10 are also configured to be scalable to accommodate the capture, engagement, and / or launch of larger or smaller objects 26. Furthermore, the system 12 and end effector 10 can be selectively reconfigured to have a different number of rollers, and / or a different arrangement and positioning of the rollers 14, 16, 18.

[0070] The system 12 may include a drive system 28 configured to control the rotation of the first roller 14, the second roller 16, and / or the third roller 18. Figure 2). For example, the drive system 28 may include one or more rotational power sources 30, one or more drive gears 32, and one or more drive shafts 34. Although the rotational power source 30 is generally described herein as a motor 30, it should be understood that the rotational power source 30 may include one or more electric motors, pneumatic power sources, hydraulic motors or other hydraulic power sources, spring power sources (e.g., a wind-up rotatable power source), manual power sources (e.g., a hand crank), and / or air power sources (e.g., a rotary vane air device). In some examples, the drive system 28 includes a single motor 30 that drives the first roller 14, the second roller 16, and the third roller 18. In some examples, the drive system 28 includes a respective motor 30 for each respective roller. As will be described in greater detail herein, the drive gear 32 of the drive system 28 can include a central control gear or outer control gear ring, and a plurality of radially spaced spur gears, wherein the central control gear or outer control gear ring is configured to rotate the plurality of radially spaced spur gears, and each respective spur gear is configured to drive a respective roller 14, 16, 18 by driving a respective drive shaft 34. In some examples, the drive gear 32 includes a set of planetary and internal gears. The drive system 28 can additionally or alternatively include a limit switch configured to stop the first roller 14, the second roller 16, and / or the third roller 18 after the object 26 is captured by the end effector 10. The end effector 10 can be configured for manual and / or automated operation (e.g., manual or automated capture, engagement, and / or release of the object 26).

[0071] Continue to refer Figures 1 to 2 , the end effector 10 may be coupled to, mounted to, and / or supported by a support structure 36, such as an arm, a rod, a handle, and / or a platform (stationary or mobile). For example, Figure 2 The support structure 36 is shown in the form of a robotic arm 40 that can be coupled to the drive system 28 via adjustable joint angles 42. The robotic arm 40 is shown as a stationary robotic arm 40, but in other examples of the system 12, the robotic arm 40 can be the arm of a mobile robot. In other examples of the system 12, the end effector 10 can be coupled to other types of support structures 36 via adjustable joint angles 42. For example, in some systems 12, the end effector 10 can be coupled to a handle for handheld or manual operation. In other examples, the end effector 10 can be supported by an arm support structure 36 that is mounted on a ship-based mounting platform or other mobile vehicle. In these and other arrangements for supporting the end effector 10, the support structure 36 can be used to help align the end effector 10 for engagement with or capture of the object 26 by positioning and / or moving the end effector 10 for engagement, capture, and / or release of the object 26.

[0072] As used herein, "end effector" is not limited to end effectors for robots and robotic arms, and can be implemented using many different types of systems. For example, the end effector 10 can be configured to be implemented using a robotic device, a transport device, a fixed robotic arm, a land-based system, a mobile robot, and / or a ship-based system. To this end, the support structure 36 may include a ship or other vessel (including underwater vessels), an aircraft, a spacecraft, a stationary robot, a mobile robot, a transport device, a robotic device, a handheld device, and / or a land-based surface or structure. Additionally or alternatively, the end effector 10 may include a support element 56 (such as a support base 38) that supports the rollers 14, 16, 18, a drive system 28, one or more stop structures 54, and / or one or more backstops 57.

[0073] The end effector 10 is configured to engage with a passive receptacle 44 of an object 26 to capture, engage, and / or release the object 26. The passive receptacle 44 can take many different forms in various examples of the system 12. For example, the passive receptacle 44 can be an annular receptacle having an annular feature configured to engage with the end effector 10, a cylindrical receptacle having an elongated cylindrical member configured to engage with the end effector 10, or any other suitable shape for a given example of the end effector 10. The end effector 10 can be arranged to interface with or capture an annular or cylindrical or other type of passive receptacle of a specific size. For example, the end effector 10 can be configured to have an outer periphery 52 sized to engage with the inner diameter of the ring of the passive receptacle 44. In some examples, the end effector 10 can be press-fitted or interference-fitted with the ring of the passive receptacle 44 when the ring is positioned about the centerline of the rollers 14, 16, 18. Similarly, the end effector 10 can be configured such that when the post of the passive receptacle 44 is captured within the interior space 50 between the rollers 14, 16, 18 and the enlarged protrusion of the post is located at or past the centerline of the rollers, the rollers 14, 16, 18 are spaced relative to each other to have an interference fit or press fit with the post or enlarged protrusion of the passive receptacle 44. When the passive receptacle 44 is engaged with the rollers 14, 16, 18, the rollers rotate in a direction that draws the passive receptacle 44 onto or into the end effector 10 (e.g., by drawing the ring of the passive receptacle 44 around the periphery 52 of the rollers 14, 16, 18 or by drawing the post of the passive receptacle 44 into the interior space 50 between the rollers 14, 16, 18).

[0074] refer to Figure 2The end effector 10 can be configured to automatically lock the passive receptacle 44 into position (thereby capturing the object 26) once the passive receptacle 44 is grasped and pulled vertically past a first centerline 46 of the first roller 14 (e.g., toward the support base 38), a second centerline 48 of the second roller 16, and / or a third centerline of the third roller 18. The centerlines 46, 48 generally correspond to locations of maximum gripping force between the rollers 14, 16 and the passive receptacle 44. In some examples, the rollers 14, 16, 18 are substantially vertically aligned with one another and have substantially equal diameters, such that the respective centerlines 46, 48 can be substantially coplanar. In some examples, the end effector 10 is configured to grasp the passive receptacle 44 such that the passive receptacle 44 is positioned within and between the first and second rollers 14, 16, thereby capturing the object 26. For example, a cylindrical passive receptacle 44 may be gripped in an interior region generally indicated at 50 between the rollers 14, 16, 18. In some examples, the end effector 10 is configured to grip the passive receptacle 44 so that when the object 26 is captured, the passive receptacle 44 is positioned about a periphery 52 ( Figure 1 ) are positioned on the outside, and the periphery 52 is defined by the rollers and / or backstops 57 and the end effector 10. For example, in an end effector 10 having three rollers, the periphery 52 may be defined by the first roller 14, the second roller 16, and the third roller 18. In an end effector 10 having two rollers and a backstop, the periphery 52 may be defined by the first roller 14, the second roller 16, and the backstop 57. In other examples of the end effector 10, there may be additional rollers that further define the periphery 52.

[0075] The system 12 may include one or more stop structures 54 configured to limit movement of the object 26 (e.g., the passive receptacle 44) relative to the end effector 10. For example, the stop structures 54 may be configured to limit vertical translation of the passive receptacle 44 relative to the rollers 14, 16, 18 by physically substantially preventing further vertical translation of the passive receptacle 44 once the passive receptacle 44 encounters or contacts the stop structures 54. The stop structures 54 may be coupled to one or more of the rollers 14, 16, 18, and / or the stop structures 54 may be coupled to or supported by a support element 56 (e.g., the support base 38). For example, the end effector 10 may include a respective stop structure 54 positioned adjacent each respective roller 14, 16, 18 such that once the passive receptacle 44 is sufficiently drawn onto the end effector 10, a portion of the passive receptacle 44 contacts the stop structure 54. In some examples, the stop structure 54 can be configured to prevent the passive receptacle 44 from being completely pulled down and away from the rollers 14, 16, 18, such that when the passive receptacle 44 is grasped by the end effector 10 and in the locked configuration, the passive receptacle 44 maintains at least minimal contact with the rollers 14, 16, 18. In some examples, the stop structure 54 can be sized and positioned to ensure that the object 26 can be held away from the rollers 14, 16, 18 when the passive receptacle 44 is grasped by the rollers 14, 16, 18. Additionally or alternatively, the stop structure 54 can be coupled to or form a portion of the passive receptacle 44 of the object 26. For example, the passive receptacle 44 can include an annular attachment structure, a base plate, or other structure that acts as a stop structure 54 by limiting vertical translation of the passive receptacle 44 relative to the end effector 10. For example, the annular attachment structure, base plate, or other structure of the passive receptacle 44 can be configured to contact the upper surface 128 of the rollers 14, 16, 18, which can prevent the passive receptacle 44 from being pulled further downward toward the support base 38 by the rollers 14, 16, 18. In some examples, the stop structure 54 can be compliant, including a flexible material and / or a spring-loaded element, to provide a small amount of force toward the rollers to help the passive receptacle 44 reengage with the rollers 14, 16, 18 for firing.

[0076] Some examples of the end effector 10 include a backstop 57 that can be positioned to engage the object 26 when the object 26 is captured by the first roller 14 and the second roller 16. In other words, in various examples of the system 12, the backstop 57 can replace the third roller 18, or can simply be a non-rotating structure positioned within the end effector 10 to assist in capturing the passive receptacle 44.

[0077] In various examples of the end effector 10, the rollers 14, 16, 18 can be any suitable rollers, including airless tires, pneumatic tires, rubber wheels, belts, and / or solid wheels. In various examples of the end effector 10, the rollers 14, 16, 18 can be rigid, compliant, and / or compressible. In some examples, all rollers of a given end effector 10 can be of the same type, material, size, and density, while in other examples, one or more of the rollers 14, 16, 18 can be different from one or more other rollers of the rollers 14, 16, 18. In some examples, the end effector 10 is configured so that each roller 14, 16, 18 can be selectively removed from the end effector 10 and replaced with a replacement roller or a different type of roller. In this way, the rollers 14, 16, 18 can be selectively replaced when worn or damaged, and / or different rollers can be substituted and used to capture, engage, and / or release different objects 26. Additionally or alternatively, the end effector 10 may be modular such that the end effector 10 may be selectively reconfigured to have a different number of rollers 14 , 16 , 18 , multiple drive shaft mounts, and / or structural attachment points.

[0078] In some examples, the first roller 14, the second roller 16, and / or the third roller 18 may have one or more compliant regions. Additionally or alternatively, the stiffness of one or more of the rollers 14, 16, 18 may be selected based on the type of passive receptacle 44 of the object 26 being captured. For example, the rollers 14, 16, 18 may be selected to be more rigid for applications involving heavier captures (e.g., heavier passive receptacles 44 and / or objects 26). In some examples, one or more of the rollers 14, 16, 18 may be pneumatic, with selectively adjustable tire pressure, allowing it to be increased or decreased as needed for different applications. In some examples, one or more of the rollers 14, 16, 18 may be compressible and / or compliant. Additionally or alternatively, one or more of the rollers 14, 16, 18 may be airless. These adjustments may be selected based on the weight, mass, and / or material used in the object being captured.

[0079] In some examples, one or more of the rollers 14, 16, 18 may include a central groove 58 formed in a peripheral surface 60 of the roller 14, 16, 18 that may be configured to improve alignment of the object 26 when the object is captured or engaged. Additionally or alternatively, the peripheral surface 60 of one or more rollers 14, 16, 18 may include secondary features 62 configured to enhance the ability of the end effector 10 to capture the object 26. For example, the secondary features 62 may include one or more radial grooves and / or a tread pattern.

[0080] Figures 3 to 6The capture and release of an object 26, such as a hovering aircraft, via a passive receptacle 44 in the form of an annular receptacle 64 is schematically shown. Figures 3 to 6 The object being captured is not shown in the drawing, but it should be understood that the passive receptacle 44 is associated with the object (e.g., coupled to the object, formed integrally with the object, etc.) so that when the annular receptacle 64 is grasped by the rollers 14, 16, 18 (for clarity, the passive receptacle 44 is not shown in the drawing). Figures 3 to 6 Only rollers 14, 16 are visible in the figure), and the object is effectively captured by the end effector 10. The passive receptacle 44 can be considered to be "grasped" by the rollers 14, 16, 18 when it is captured around the outside of the rollers or captured between the rollers. Again, for clarity, in Figures 3 to 6 Two rollers 14, 16 are shown, but the end effector 10 may include a third roller 18 ( Figure 1 ) and / or additional rollers, one or more rollers of the end effector 10 are in planes that are not parallel to each other. In addition, although Figures 3 to 6 The simplified schematic nature of makes it appear as if the rollers 14 , 16 rotate in the same plane as one another, but it should be understood that in various examples of the end effector 10 , the rollers 14 , 16 may be configured to rotate in a manner that is non-parallel to one another.

[0081] exist Figures 3 to 6 In the example of FIG. 1 , the object approaches the end effector 10 and the passive receiving seat 44 is oriented toward the rollers 14 and 16, as shown in FIG. Figure 3 As shown, the passive receptacle 44 moves generally toward the end effector 10 in the direction indicated by arrow 66. When an object is captured, the first roller 14 rotates in a first direction (indicated by arrow 68) and the second roller 16 rotates in a second direction (indicated by arrow 70). Figure 4 As shown, once the passive receiving seat 44 contacts the rollers 14, 16, the rollers begin to pull the passive receiving seat 44, so that the passive receiving seat 44 is further pulled in the direction indicated by arrow 66. As shown, the passive receiving seat 44 engages with the outer edge of the rollers 14, 16 (e.g., around the outer periphery 52 of the rollers 14, 16, 18; see Figure 1 ), which is grasped by the end effector 10. Once the passive receiving seat 44 is pulled downwardly through the center lines 46, 48 of the rollers 14, 16 ( Figure 5 ), the passive receiving seat 44 is effectively locked to the rollers 14, 16. Again, although the third roller is Figures 3 to 6 It is not visible in the schematic representation of FIG, but it should be understood that the passive receiving seat 44 can be effectively locked to one or more additional rollers other than the rollers 14, 16 shown, such as to three rollers 14, 16, 18 ( Figure 1 )superior.

[0082] The stop structure 54 acts as a stop to prevent the annular receptacle 64 from being pulled further downward and to ensure that the passive receptacle 44 remains in contact with the rollers 14, 16 and / or any additional rollers of the end effector 10. In some examples, the stop structure 54 can be compliant to provide a cushion for the passive receptacle 44 when it is pressed against the stop structure 54 during capture of an object. At this time, if desired, the motor or motors of the drive system 28 can be shut off (or can be automatically shut off via a limit switch), but in some examples, the motor or motors can continue to operate in the retraction / capture direction without stopping the drive system 28 because the end effector 10 can be configured to exert only a small amount of retraction force on the passive receptacle 44 when the passive receptacle 44 is in the locked position (e.g., contacting the stop structure 54 and / or pulled downward past the centerlines 46, 48 of the rollers 14, 16). In other words, in some examples, the rollers need not stop once object 26 is captured, as end effector 10 and system 12 may be configured to allow the rollers to continue rotating after capture without damaging object 26 or passive receptacle 44 .

[0083] Figures 3 to 5 can be considered to indicate that the end effector 10 is in the capture configuration, while Figure 6 Indicates that the end effector 10 is in the release or firing configuration. The rollers of the end effector 10 can be driven so as to rotate inward in one configuration and outward in another configuration. For example, Figure 6 As shown, to selectively release an object from the end effector 10, the drive system 28 reverses the direction of rotation of the rollers 14, 16 (and any additional rollers of the end effector 10). Figure 6 Invert it so that it is along Figure 3-Figure 5 72, and the second roller 16 is reversed so that it also rotates in the opposite direction as during the capture sequence, as indicated by arrow 74. As a result, the rollers 14, 16 will grip the edge of the passive receptacle 44 and push it away from the stop structure 54, causing the passive receptacle 44 to be lifted off the stop structure 54 and away from the support base 38 in the direction indicated by arrow 76. In this manner, the passive receptacle 44 begins to be pushed away from the rollers 14, 16 until the passive receptacle 44 is completely clear of the rollers 14, 16 (e.g., it is pushed off the top of the rollers 14, 16 and any other rollers of the end effector 10), thereby achieving release of the object from the end effector 10.

[0084] Because the system 12 and end effector 10 can be configured to hold the object 26 in a captured or locked configuration via the passive receptacle 44 until the direction of rotation of the rollers is reversed for launch / release, this can enable the UAV motors of the object 26 to be activated in preparation for takeoff, because the end effector 10 can be configured to prevent release of the object 26 until the rollers (e.g., rollers 14, 16, 18) are reversed to push the passive receptacle 44 away from the end effector 10. Although the system 12 is described herein as capturing and releasing the passive receptacle 44 by translating the passive receptacle 44 in a substantially vertical direction, other examples of the system 12 and end effector 10 can be configured to capture and release the object 26 that is moving toward the end effector 10 in a horizontal direction or at other orientations relative to the end effector 10. Similarly, in various implementations, the end effector 10 can be supported and positioned to release or launch the object 26 horizontally or at other angles / orientations.

[0085] Advantageously, the system 12 is configured to tolerate positional and rotational misalignment between the passive receptacle 44 and the end effector 10 in any direction. In other words, the end effector 10 of the present disclosure is configured to capture the object 26 via the passive receptacle 44 even when conditions, tolerances, or other errors prevent proper alignment between the passive receptacle 44 and the end effector 10. For example, in windy conditions, when the object 26 and / or the end effector 10 may move around unpredictably, the end effector 10 of the present disclosure can be configured to capture or engage the object despite these difficulties due to the system's tolerance for positional and rotational misalignment provided by the orientation and arrangement of the rollers relative to each other. The end effector 10 can be configured to handle objects approaching from any angle, allowing for a full 360-degree range of azimuth angles, and thus tolerate misalignment in any direction. While prior art systems may be able to tolerate misalignment in a single direction, they are unable to capture objects from a full 360-degree range of azimuth angles.

[0086] To illustrate, Figures 3 and 4 The substantially ideal alignment between the passive receptacle 44 and the rollers 14, 16 is schematically shown, with the passive receptacle 44 being close to the end effector 10 so that the passive receptacle 44 is centered on the rollers 14, 16. Figure 7 An example of a passive receptacle 44 being offset from the position of the rollers 14, 16 is shown because the passive receptacle 44 is off-center relative to the rollers 14, 16 when the passive receptacle 44 contacts the rollers 14, 16. Nevertheless, the end effector 10 is still configured to capture an object via the passive receptacle 44 even when off-center because the rotation of the rollers 14, 16 will serve to pull the passive receptacle 44 over and above all the rollers of the end effector 10. Similarly, Figure 8An example of rotational misalignment of the passive receptacle 44 and the rollers 14, 16 is shown because the passive receptacle 44 is not flush with the tops of the rollers 14, 16, but is angled so that when the passive receptacle 44 first contacts the end effector 10, the passive receptacle 44 contacts the second roller 16 but does not contact the first roller 14. Nevertheless, the end effector 10 is still configured to capture an object through the passive receptacle 44 even when the object is rotationally misaligned because the rotation of the second roller 16 will also serve to pull the passive receptacle 44 down into contact with the first roller 14. The end effector 10 can be configured to capture an object that has experienced positional misalignment (due to the arrangement and orientation of the rollers) Figure 7 ) and rotational misalignment ( Figure 8 ) object 26.

[0087] Figure 9 A variation of the passive receptacle 44 is shown that includes a tapered edge guide 78 around the periphery of the passive receptacle 44, which may also be referred to as a skirt 78. Figure 9 As shown, when the tapered edge guide 78 contacts one or more rollers, the tapered edge guide 78 can assist or help correct the passive receptacle 44 relative to the rollers ( Figure 9 , rollers 14 and 16 are shown, but end effector 10 may include one or more additional rollers, such as roller 18). Thus, tapered edge guide 78 may be configured to facilitate end effector 10 capturing an object even when only one roller (e.g., when only one roller 14 or only one roller 16) contacts passive receptacle 44.

[0088] Figures 10 to 12 Another example of a system 12 is shown in which the end effector 10 is configured to capture an object 26 via a passive receptacle 44 in the form of a post receptacle 80. The post receptacle 80 may include a base plate 82 from which an elongated post or stud 84 extends from a proximal region 88 to a distal region 90. The post 84 is coupled to (or integrally formed with) the base plate 82 at or within the proximal region 88 of the post 84. The post 84 includes an enlarged protrusion 86 at or within the distal region 90 of the post 84. Figure 3-Figure 6 Same, in Figure 10-12 The object being captured is not shown in FIG (for the sake of clarity), but it should be understood that the passive receptacle 44 is associated with the object (e.g., coupled to the object, integrally formed with the object, etc.) such that when the post receptacle 80 is gripped by the rollers (e.g., rollers 14, 16, 18), the object is effectively captured by the end effector 10. Similarly, although for the sake of clarity, in FIG Figures 10 to 12Only two rollers 14, 16 are visible in FIG, but such an end effector 10 may include one or more additional rollers (eg, rollers 14, 16, 18), where one or more rollers rotate in a different plane than one or more other rollers.

[0089] Although Figures 3 to 6 In the example shown, the annular receiving seat 64 is gripped by the outer edge of the roller, but Figures 10 to 12 In other words, when the post receiving seat 80 is grasped by the end effector 10, such as when the rollers 14, 16, 18 ( Figure 1 ) in the internal space 50 between the column receiving seat 80 is positioned between the rollers. Specifically, as Figure 10 As shown, an object having a post receptacle 80 approaches the end effector 10 such that the enlarged protrusion 86 contacts one or more rollers 14, 16 (and / or roller 18, which is Figure 10-12 During capture of an object, the first roller 14 rotates in a first direction (indicated by arrow 68) and the second roller 16 rotates in a second direction (indicated by arrow 70). The rotation of the rollers 14, 16 pulls the post receptacle 80 downward toward the support base 38, causing the post receptacle 80 to continue moving in the direction indicated by arrow 66. It should be understood that any additional rollers of the end effector 10 can be rotated accordingly in conjunction with and in cooperation with the rollers 14, 16 to engage the post receptacle 80 and pull it between the rollers to capture the object.

[0090] like Figure 11 As shown, when an object is captured by the end effector 10, the enlarged protrusion 86 can be pulled across the centerline of the rollers so that the post 84 can be positioned internally between the rollers. For example, Figure 11 The enlarged protrusion 86 is shown as having been pulled downwardly past the centerlines 46, 48 of the rollers 14, 16, and the post 84 is positioned internally between the rollers 14, 16, but it should be understood that the enlarged protrusion 86 is also pulled downwardly past other corresponding centerlines of other rollers that may be included in the end effector 10, and the post 84 may also be positioned internally between all of the rollers. The centerlines of the rollers (e.g., the centerlines 46, 48) can effectively serve as pinch points for the enlarged protrusion 86 because the enlarged protrusion 86 is pulled into the end effector 10 or launched away from the end effector 10 after being captured. In some examples, the base plate 82 of the post receptacle 80 can serve as a stop structure 54 because once the post receptacle 80 is grasped by the end effector 10, the base plate 82 can engage or contact the upper surface 128 of the rollers 14, 16, thereby preventing the post receptacle 80 from moving further toward the support base 38 of the end effector 10. As Figure 12As shown, to selectively release an object, the direction of rotation of the rollers 14, 16 (and any additional rollers) is selectively reversed. Thus, the first roller 14 rotates in a direction opposite to the direction in which it was rotated during the capture sequence, as indicated by arrow 72, and the second roller 16 rotates in a direction opposite to the direction in which the second roller 16 was rotated during the capture sequence, as indicated by arrow 74. As a result, the rollers push the post 84 away from the support base 38 in the direction indicated by arrow 76, thereby pushing the enlarged protrusion 86 past the centerline of the rollers (e.g., past the centerlines 46, 48 of the rollers 14, 16, at Figure 11 In this way, the post receptacle 80 (and thereby the associated object) is released from the end effector 10 .

[0091] Again, the system 12 is configured to tolerate positional and rotational misalignment between the passive receptacle 44 and the end effector 10. Figure 13-14 The example of using the column receiving seat 80 is shown. Figure 10-11 A substantially ideal alignment between the passive receptacle 44 and the rollers 14 , 16 is shown, wherein the passive receptacle 44 is proximate to the end effector 10 such that the passive receptacle 44 is centered over the rollers 14 , 16 , Figure 13-14 An example of misalignment between the post receptacle 80 and the rollers 14, 16 is shown. Figure 13 , post receptacle 80 is positionally misaligned with rollers 14, 16 because passive receptacle 44 is off-center from the space between rollers 14, 16 to the extent that enlarged protrusion 86 has contacted second roller 16 but not first roller 14. Nevertheless, end effector 10 is still configured to capture an object via post receptacle 80 even when the object is off-center because rotation of rollers 14, 16 will serve to pull enlarged protrusion 86 and post 84 between the rollers of end effector 10 (e.g., toward and into interior space 50) due to the resultant force of the rotation of rollers 14, 16 and the applied force to enlarged protrusion 86 and post 84.

[0092] Similarly, Figure 14An example is shown in which the post receptacle 80 is rotationally misaligned with the rollers 14, 16 because the base plate 82 is not flush with the upper surfaces 128 of the rollers 14, 16, but is angled such that one end of the base plate 82 is closer to one of the rollers 14, 16 than the other end of the base plate 82 is to the other of the rollers (e.g., in the example shown, the base plate 82 is angled closer to the roller 14 than to the roller 16). Nevertheless, the end effector 10 is still configured to capture an object through the post receptacle 80 even when the object is rotationally misaligned because the rotation of the second roller 16 will serve to pull the enlarged protrusion 86 and the post 84 toward the support base 38, which will flatten the base plate 82 of the post receptacle 80 in the process. The end effector 10 can thus be configured to capture an object that has experienced positional misalignment due to the arrangement and orientation of the rollers as described herein ( Figure 13 ) and rotational misalignment ( Figure 14 ) object 26.

[0093] Now turn Figures 15 to 17 as well as Figures 20 to 25 , presents illustrative, non-exclusive examples of system 12, end effector 10, and / or components thereof. Where appropriate, from Figures 1-14 (or Figure 18-19 and Figures 26-30 ) are used to represent the reference numerals in the schematic diagram Figure 15-17 and Figure 20-25 ; however, Figure 15-17 and Figure 20-25 The examples are non-exclusive and do not limit the system 12 or the end effector 10 to Figure 15-17 and Figure 20-25 That is, the end effector 10 and system 12 are not limited to Figure 15-17 and Figure 20-25 The specific examples shown in and may be incorporated by reference Figures 1-14 、 Figure 18-19 or Figures 26-30 Schematic representation and / or Figure 15-17 and Figure 20-25 Any number of various aspects, configurations, characteristics, attributes, etc. are shown and discussed in connection with examples and variations thereof, without necessarily including all such aspects, configurations, characteristics, attributes, etc. For the purpose of brevity, each previously discussed component, part, portion, aspect, region, etc., or variations thereof, may not be further discussed with respect to Figure 15-17 and Figure 20-25 Each of the foregoing is discussed, shown and / or labeled herein; however, within the scope of the present disclosure, previously discussed features, variations, etc. may be used therewith.

[0094] Figure 15is a perspective view of an example of an end effector 10 having three rollers 14, 16, 18. As shown, in this example, the rollers 14, 16, 18 are each arranged to rotate in different planes that are at non-parallel and non-perpendicular angles relative to each other. The first roller 14 rotates about a first axis 20, the second roller 16 rotates about a second axis 22, and the third roller 18 rotates about a third axis 24, wherein each of the first axis 20, the second axis 22, and the third axis 24 are non-parallel and non-perpendicular to each other. In this example, a passive receptacle 44 in the form of a post receptacle 80 is shown as being captured or gripped within the interior space 50 between the rollers 14, 16, 18 (but for clarity, the interior space 50 is not shown). Figure 15 Object 26 is not shown). Figure 15 As shown, one or more of the rollers 14, 16, 18 can have a central recess 58 formed in the peripheral surface 60 of each roller 14, 16, 18. When the post receptacle 80 is captured by the end effector 10, the enlarged protrusion 86 can be at least partially positioned within the central recess 58 of the roller 14, 16, 18. In other words, the central recess 58 can be sized and shaped to facilitate engagement with the enlarged protrusion 86 and / or the post 84 of the post receptacle 80.

[0095] The system 12 generally includes a drive system 28 to power the rollers 14 , 16 , 18 of the end effector 10 . Figure 16 An example of a drive system 28 is shown that includes a respective motor 30 for each respective roller 14, 16, 18. A respective drive gear 32 operatively coupled to each respective motor 30 transfers rotational energy from each respective motor 30 to the respective roller 14, 16, 18. As desired for the particular layout of the end effector 10, the drive system 28 may include one or more additional respective gears 92 operatively coupled to each drive gear 32.

[0096] Although Figure 16 The example includes a respective drive motor 30 for each respective roller 14, 16, 18, but Figure 17 The drive system 28 in the example of FIG includes only a single motor 30 that drives all of the rollers 14, 16, 18. In other examples, respective motors 30 may be configured to drive a subset of the rollers in a given end effector 10, while other rollers may be driven by one or more other respective motors 30. Figure 17 In the example of FIG. 5 , the support base 38 supports an outer control gear ring 94 (which may also be referred to as a ring gear 94 ) and a plurality of radially spaced spur gears 96 . The outer control gear ring 94 is positioned within or adjacent to the outer periphery 52 of the support base 38 . A single motor 30 (for clarity, Figure 17) can be configured to drive an external control gear ring 94, which in turn is configured to rotate a plurality of spur gears 96 (e.g., the external control gear ring 94 can engage or mesh with the spur gears 96). For example, there can be a respective spur gear 96 for each respective roller 14, 16, 18, as in Figure 17 In the example of FIG. , each respective spur gear 96 can be operably coupled to a respective drive shaft 34 of a respective roller 14, 16, 18 (e.g., via a worm screw and worm gear, or via a bevel gear) to drive the respective roller, such that rotation of each respective spur gear 96 causes rotation of the respective drive shaft 34 to which the respective spur gear 96 is coupled (e.g., positioned). In this manner, the external control gear ring 94 can achieve rotation of all of the rollers 14, 16, 18 by rotation of a single motor 30.

[0097] exist Figure 17 In the example of the end effector 10, the support element 56 includes a housing 98 that positions and aligns the rollers 14, 16, 18 relative to each other. In this example, the housing 98 also supports the stop structure 54, and this example of the end effector 10 includes a respective stop structure 54 for each respective roller 14, 16, 18. The housing 98 can be coupled to or engaged with the support base 38. Additionally or alternatively, the housing 98 can be coupled to or engaged with the support structure 36 (e.g., a handle or robotic arm).

[0098] Figure 18 The diagram schematically shows the Figure 17 An example of a drive system 28 similar in embodiment to that shown in FIG. Figure 18 A top plan schematic diagram of an outer control gear ring 94 meshing with three spur gears 96 is shown, wherein each respective spur gear 96 is configured to drive a respective roller via a respective drive shaft 34, such as using a respective worm screw and worm gear or bevel gear to transmit power from each respective spur gear 96 to the respective drive shaft 34. Figure 19 Other examples of drive systems 28 are schematically shown in FIG. Figure 19 A central control gear 100 is shown meshing with a plurality of radially spaced spur gears 96, wherein the central control gear 100 is configured to rotate the plurality of radially spaced spur gears 96. Again, each respective spur gear 96 can be configured to drive a respective roller 14, 16, 18 via a respective drive shaft 34. The central control gear 100 can be centrally positioned between the plurality of radially spaced spur gears 96. Although the illustrated example shows spur gears 96, other examples of the end effector 10 can have a different drive system 28 using a different type of gear set, such as a herringbone gear set, a helical gear set, or a double helical gear set.

[0099] Whether using an external control gear ring 94 or a central control gear 100 (or an entirely different gearing configuration), the end effector 10 may include additional gears configured to rotate the rollers 14 , 16 , 18 and transfer energy from the motor and spur gear 96 to each roller 14 , 16 , 18 via the drive shaft 34 . Figures 20 to 21 Two examples of such additional gears for implementing the end effector 10 of the present disclosure are shown, but the end effector 10 is not limited to these specific examples. Figures 20 to 21 A single roller 14 is shown in each of the figures, but one skilled in the art will appreciate that the arrangement shown may be used for Figures 20 to 21 Other rollers of the end effector 10 are not shown. Figure 20 In the example of FIG, the spur gear 96 drives the drive shaft 34, which in turn rotates a first bevel gear 102 coupled to the drive shaft 34. The first bevel gear 102 meshes with a second bevel gear 104, which is coupled to an axle 106 of the roller 14. Thus, rotation of the first bevel gear 102 causes corresponding rotation of the second bevel gear 104, which in turn rotates the axle 106, thereby rotating the roller 14 about the axis 20. Thus, rotation of the spur gear 96 in opposite directions is configured to cause the roller 14 to also rotate in opposite directions. A drive system 28 utilizing this arrangement may include a respective first bevel gear 102 and a respective second bevel gear 104 for each respective roller of the end effector.

[0100] exist Figure 21 , the spur gear 96 drives the drive shaft 34, which in turn rotates a worm screw 108 coupled to the drive shaft 34 (e.g., the worm screw 108 may be positioned on the drive shaft 34 or formed integrally with the drive shaft 34). The worm screw 108 engages a worm wheel 110 positioned on or coupled to the axle 106. Thus, rotation of the worm screw 108 causes a corresponding rotation of the worm wheel 110, which in turn rotates the axle 106, thereby rotating the roller 14 about the axis 20. Thus, rotation of the spur gear 96 in opposite directions is configured to cause the roller 14 to also rotate in opposite directions. A drive system 28 utilizing this arrangement may include a respective worm screw 108 and a respective worm wheel 110 for each respective roller of the end effector. Of course, in addition to Figures 20 to 21 In addition to the gears shown in FIG, other types of gears may be used in addition or alternatively in the end effector 10 of the present disclosure. For example, in addition to bevel gear sets and worm gear sets, other types of gears such as spiral bevel gears and hypoid gear sets are also within the scope of the present disclosure.

[0101] As shown throughout the drawings, but Figures 20 to 21As will be apparent from the drawings, the drive system 28 of the disclosed end effector 10 can be configured to avoid interference with the object 26 being captured, engaged, or released / launched. For example, the gears and motors can be positioned around the periphery 52 ( Figure 1 Additionally or alternatively, the housing 98 and / or the support element 56 and / or other components of the support base 38 may be configured to at least partially shield or enclose one or more gears of the drive system 28 and / or otherwise prevent the passive receptacle 44 or the object 26 from becoming entangled with the gears. For example, Figures 20 to 21 As shown, the spur gear 96 can be separated from the roller 14 by the housing 98. Additionally or alternatively, the first bevel gear 102, the second bevel gear 104, the worm screw 108, and / or the worm gear 110 can be at least partially positioned within the housing 98, at least partially shielded by the housing 98, or at least partially surrounded by the housing 98. In other words, the end effector 10 can be configured such that the rollers 14, 16, 18 are the only moving parts that the passive receptacle 44 and the object 26 can contact during capture of the object because the gears and shafts of the drive system 28 and the drive shaft can be substantially shielded by the housing 98 and other support elements 56.

[0102] Figure 22 An example of a passive receptacle 44 is shown hovering just above the end effector 10 before being captured by engaging the ring with the rollers and pulling the passive receptacle downward over the rollers of the end effector 10. Figure 22 In the example of the passive receptacle 44, the passive receptacle 44 is shown as an annular receptacle 64 that includes a tapered edge guide 78 and an annular attachment structure 112 that is sized and shaped to fit over and around the rollers 14, 16, 18 when the object is captured (e.g., when the passive receptacle 44 is grasped by the end effector 10). In other examples, the passive receptacle 44 can be simply a ring, or a ring with an annular attachment structure 112 but no tapered edge guide 78. In some examples, the tapered edge guide 78 can be stepped rather than tapered. In various examples of the system 12, the annular attachment structure 112 can be larger or smaller, or of a different design. Similarly, the skirt or edge guide 78 can be larger or smaller in various examples of the passive receptacle 44. For clarity, the object 26 is not shown in FIG. Figure 22 1 , but it should be understood that the object 26 is coupled to or integrally formed with the passive receptacle 44 , such as by an annular attachment structure 112 .

[0103] like Figure 23 As shown, when the object 26 is captured by the end effector 10 via the passive receptacle 44, the annular attachment structure 112 can be configured to support the object 26 above the end effector 10. For example, Figure 23 An object 26 is shown in the form of a UAV 130 coupled to the annular attachment structure 112 of the annular receptacle 64. As shown, the annular attachment structure 112 can be configured to couple the passive receptacle 44 to the object 26 and also prevent the object 26 from contacting the rollers 14, 16, 18 when the object 26 is captured by the end effector 10. For example, the annular attachment structure 112 can be sized and shaped to fit on top of or above the rollers of the end effector 10, such that, in some examples, the annular attachment structure 112 itself need not contact the rollers, and such that the object 26 (e.g., the UAV 130) is also held away from the rollers. Thus, in some examples, the passive receptacle 44 can be configured such that the annular receptacle 64 contacts the rollers to capture the passive receptacle 44 (and thereby the object 26), while also separating other components (e.g., the annular attachment structure 112 and the object 26) from the rollers. Figure 23 The passive receptacle 44 is shown at rest on the end effector 10 (e.g., the passive receptacle 44 is gripped or captured by the end effector 10). In this configuration, the annular receptacle 64 has been pulled toward the support base 38, past the centerline of each roller, such that the ring of the annular receptacle 64 rests on or is pressed against the stop structure 54. In this configuration, the ring of the annular receptacle 64 is positioned around the outer periphery 52 of the rollers of the end effector 10. Figure 23 Shown with a ratio Figure 22 An example of an annular receptacle 64 of a ring having an even smaller profile shape.

[0104] Figures 24 to 25 An example of capturing an object 26 having positional misalignment by the tapered edge guide 78 of the passive receptacle 44 is shown. Figure 24 In the example shown, the passive receiving seat 44 is close to the end effector 10, but the passive receiving seat 44 is not aligned with the roller. The passive receiving seat 44 is not located at the center of all the rollers of the end effector 10, but is misaligned in position so that the tapered edge guide 78 contacts only the roller 14 at the initial contact point with the end effector 10. However, the rotation of the roller 14 causes the friction applied by the roller 14 to the tapered edge guide 78 to align the passive receiving seat 44. Therefore, as shown in FIG. Figure 25 As shown, the end effector 10 may be configured to account for such positional misalignment and automatically cause the passive receptacle 44 to be properly aligned approximately centrally on the roller.

[0105] The end effectors 10 may be modular so that they can be selectively configured differently for different tasks. For example, Figure 26An example of a shaft plate or central hub 114 is shown, which can be an example of, incorporated into, or coupled to a support base 38. The central hub 114 can include a plurality of drive shaft mounts 116. For example, the drive shaft mounts 116 can be holes formed through the central hub 114, or other forms of structural attachment points for the central hub 114, for receiving different numbers of drive shafts 34 in different locations as described herein. In some examples, the central hub 114 can include bearings (e.g., ball bearings or journal bearings) in the drive shaft mounts 116. For illustrative purposes, Figure 26 The example central hub 114 includes seven drive shaft mounts 116, individually labeled 116a, 116b, 116c, 116d, 116e, 116f, and 116g. Other examples of the central hub 114 may include more or fewer drive shaft mounts 116 than shown in the example and / or drive shaft mounts 116 in different locations or arrangements. The placement of the drive shaft mounts 116 can be configured to facilitate reconfiguring the end effector 10 to have different numbers of rollers, which can enable the disclosed end effector 10 to be configured differently for different tasks. This modular configuration can allow drive shafts 34 to be selectively added or subtracted from the central hub 114, which can be achieved in a more efficient and simpler manner than creating a system with multiple different hubs or plates having different arrangements of drive shafts 34 and different numbers of rollers. Of course, such a system with multiple different hubs or plates having different arrangements of drive shafts 34 is also within the scope of the present disclosure.

[0106] This modular functionality allows for the creation of different numbers of drive shafts 34 for driving different numbers of rollers. For example, in an embodiment having two rollers, the drive shafts 34 can be mounted to (and / or extend through) the central hub 114 via drive shaft mounts 116d and 116g or via drive shaft mounts 116b and 116e, with either combination of drive shaft mounts 116b and 116e allowing for at least approximately equal spacing between two drive shafts 34 positioned through respective drive shaft mounts that are at least approximately 180 degrees apart (although such equal spacing is not required for variations of the end effector 10 having two drive shafts 34). Similarly, in embodiments having three rollers, the drive shafts 34 may be mounted to (and / or may extend through) the central hub 114 via drive shaft mounts 116a, 116c, and 116f, which will allow for at least approximately equidistant spacing between the three drive shafts 34 positioned through respective drive shaft mounts at least approximately 120 degrees apart (although such equidistant spacing is not required for variations of the end effector 10 having three drive shafts 34). In embodiments having four rollers, the drive shafts may be mounted to (and / or may extend through) the central hub 114 via drive shaft mounts 116b, 116d, 116e, and 116g, which will allow for approximately equidistant spacing between the four drive shafts positioned through respective drive shaft mounts at least approximately 90 degrees apart (although such equidistant spacing is not required for variations of the end effector 10 having four drive shafts 34). Of course, other variations are within the scope of the present disclosure, with or without substantially equidistant spacing between each drive shaft 34 and the corresponding roller.

[0107] In some examples, the end effector 10 can be configured such that the angles of the rollers 14, 16, 18 and / or the diameter of the periphery 52 are selectively adjustable. For example, Figures 27 and 28 Schematically illustrates a top plan view of a non-exclusive example of an end effector 10 that can be selectively adjusted in this manner. Figure 27, rollers 14, 16, 18 are shown in a first configuration. In this first configuration, first roller 14 is aligned in or defines first plane 118, second roller 16 is aligned in or defines second plane 120, and third roller 18 is aligned in or defines third plane 122. In this example, each of first plane 118, second plane 120, and third plane 122 is oriented relative to one another such that each is non-perpendicular and non-parallel to each of the other respective planes. Rollers 14, 16, 18 define an outer periphery 52 around which an annular receptacle 64 can be grasped by end effector 10. In this example, first plane 118, second plane 120, and third plane 122 all intersect one another at or near a geometric center 124 of end effector 10.

[0108] and Figure 27 compared to, Figure 28 The same end effector 10 is shown in a second configuration in which each of the rollers 14, 16, 18 is rotated a relatively small amount clockwise relative to its respective drive shaft 34. As a result of the rotation of the rollers 14, 16, 18, the diameter of the outer periphery 52 decreases— Figure 28 middle, Figure 27 The original periphery 52 in FIG is shown in dashed lines, and Figure 28 The reduced diameter outer periphery 52' of the second configuration is shown in solid lines. Thus, by selectively adjusting the size of the outer periphery 52 via the orientation of the rollers 14, 16, 18, the end effector 10 can be selectively adjusted to engage or capture annular receptacles 64 of different sizes. Additionally or alternatively, the end effector 10 can be selectively adjusted to provide different levels of pressure to the passive receptacles 44 that are captured due to changes in the outer periphery 52. The angles of the rollers 14, 16, 18 can be adjusted to reduce the diameter of the outer periphery 52 to a greater extent than shown, or to increase the diameter of the outer periphery 52. In some examples, similar results can be achieved for an example of an end effector 10 configured as a capture post receptacle 80, i.e., the angle and spacing of the rollers 14, 16, 18 can be selectively adjusted to create a larger or smaller internal space between the rollers 14, 16, 18 for connecting with a larger or smaller post 84 and enlarged protrusion 86, and / or for adjusting the amount of pressure applied to the post and / or enlarged protrusion by the rollers 14, 16, 18. These selective adjustments of the end effector 10 can facilitate the use of passive receptacles 44 and end effectors 10 having different sizes without having to change the size of the rollers 14, 16, 18, but the size of the rollers 14, 16, 18 can be selectively changed in various examples, additionally or alternatively to adjusting the angle and / or position of the rollers.

[0109] Due to the change in orientation of the rollers 14, 16, 18, their respective planes are also displaced so that they are Figure 28 In the illustrated configuration, the planes 118 do not intersect at the center 124. For example, the first plane 118 still intersects the second plane 120 and the third plane 122 at non-parallel and non-perpendicular angles (and the second plane 120 still intersects the third plane 122 at a non-parallel and non-perpendicular angle, similarly), but they do not intersect each other at the same location or along the same line.

[0110] Figures 29 to 30 The example of the end effector 10 having only two rollers 14, 16 and a backstop 57 is schematically shown. Figures 29 to 30 As shown, the rollers 14 and 16 can be arranged so that they are substantially perpendicular to each other, but in some examples, the rollers 14, 16 can be arranged differently, such as in a non-perpendicular plane relative to each other. The backstop 57 can be positioned relative to the rollers 14, 16 so that it is used to define a desired size outer periphery 52 for engaging with the annular receptacle 64 grasped by the end effector 10. The illustrated example is implemented via bevel gears 102, 104, but other examples may utilize a worm screw 108 and a worm gear 110 or other implementations. The dotted line 64 represents the annular receptacle 64 captured by the end effector 10 so that the annular receptacle 64 is positioned around the outer surface of the rollers 14, 16 and the backstop 57. As shown, the backstop 57 may include a protrusion or lip 126 to help retain the annular receptacle 64 on the end effector 10.

[0111] Figure 31 Schematically provided is a flow chart representing an illustrative, non-exclusive example of a method 200 according to the present disclosure. Figure 31 In the embodiment, some steps are shown in dashed boxes, which indicate that these steps may be optional or may correspond to optional versions of a given method 200 according to the present disclosure. That is, not all methods 200 according to the present disclosure need to include the steps shown in solid boxes. Figure 31 The method 200 and steps shown are not limiting, and other methods and steps are within the scope of the present disclosure, including methods having more or less than the number of steps shown, as will be understood from the discussion herein.

[0112] Method 200 generally includes, at 202, approaching an end effector (e.g., end effector 10) with a passive receptacle of an object being captured (e.g., passive receptacle 44 of object 26). As the object approaches the end effector, the passive receptacle faces or is oriented toward the rollers (e.g., rollers 14, 16, 18) of the end effector, and at 204, the passive receptacle contacts one or more rollers. For example, contacting the one or more rollers at 204 may include contacting an inwardly facing surface of the one or more rollers with an enlarged protrusion of a post receptacle (e.g., enlarged protrusion 86 of post receptacle 80), or contacting an outwardly facing surface and / or upper surface of the one or more rollers with a ring of an annular receptacle (e.g., annular receptacle 64). As the object approaches the end effector, the rollers are typically already rotating. Therefore, once the passive receptacle contacts the one or more rollers of the end effector, the motion of the rollers serves to pull the passive receptacle onto or into the end effector, thereby capturing the object by gripping the passive receptacle at 206.

[0113] Additionally or alternatively, the method 200 may include approaching the object (e.g., the passive receptacle 44 of the object) with the end effector at 208, contacting the one or more rollers with the passive receptacle at 204, and capturing the object via the passive receptacle at 206. In other words, in various methods 200, the end effector may be substantially stationary as the object approaches the end effector, the object may be substantially stationary as the end effector approaches the object, and / or both the end effector and the object may be moved toward each other to capture or engage with each other.

[0114] Capturing the object at 206 includes rotating the rollers to pull at least a portion of the passive receptacle across the corresponding centerlines of the rollers, effectively locking it to or between the rollers of the end effector (which may be referred to as a locked configuration). In the locked configuration, the end effector is configured so that even when the drive system is turned off and the rollers are stationary, the passive receptacle will remain gripped by the rollers. In order to capture the object at 206, the passive receptacle may be gripped by the rollers so that when the object is captured, the passive receptacle is positioned externally around the periphery defined by the rollers. Additionally or alternatively, capturing the passive receptacle at 206 may include gripping the passive receptacle so that the passive receptacle is positioned inside and between the first and second rollers. In some examples, capturing the passive receptacle at 206 includes pulling an enlarged protrusion of the passive receptacle across the first centerline of the first roller and the second centerline of the second roller. Additionally or alternatively, capturing the passive receptacle at 206 may include automatically locking the passive receptacle in position between the first and second rollers and one or more stop structures of the end effector (e.g., stop structure 54) or a stop structure of the passive receptacle itself (e.g., base plate 82). In some examples, capturing the passive receptacle at 206 includes engaging the upper surfaces of the rollers with the base plate of the post receptacle such that the base plate is configured to act as a stop structure that limits movement of the object relative to the end effector. A processor or controller of the disclosed system may utilize one or more decision steps to determine whether the target object has been captured and, thereby, determine whether to continue rotating the rollers for a capture configuration, whether to stop the rollers, and / or whether to reverse the rollers for a launch / release configuration of the end effector.

[0115] To this end, method 200 may include launching or releasing the object from the end effector at 210. Launching or releasing the object from the end effector at 210 may be accomplished by reversing the direction of rotation of the rollers such that the passive receptacle and the object are pushed away from and / or off the rollers of the end effector. When releasing or launching the object at 210, the rollers push or force at least a portion of the passive receptacle rearwardly past the respective centerlines of the rollers until the passive receptacle is pushed away from the end effector via the rollers. In some methods 200, after launching the object at 210, the object may be captured and / or engaged with the end effector at a later time by bringing the object into proximity with the end effector at 202 and / or bringing the end effector into proximity with the object at 208 to initiate a capture sequence.

[0116] Method 200 can be performed to capture, engage, and / or release a UAV or other type of aerial vehicle or object. In other examples, method 200 can be performed to, for example, capture a cable or an object lifted by a cable, or to pick up and / or move a package or load via capturing an object at 206. In other examples, method 200 can be performed for applications involving engaging components, such as in manufacturing (e.g., robotic material handling), capturing a refueling probe for an aerial refueling system, and agricultural uses (e.g., picking fruit and other produce). Method 200 can also be used in underwater applications, such as by an autonomous underwater vehicle (AUV) or a remotely operated vehicle (ROV).

[0117] Figures 32 to 37 and Figures 42 to 48 A schematic, non-exclusive representation of a control device 140 (or a control system 142 including the same) that may be used to control the end effector 10 according to the present disclosure is provided. Figures 32 to 37 and Figures 42 to 48 Each figure in the Figures 1 to 14 ), and these elements may not be referenced herein. Figures 32 to 37 and Figures 42 to 48 Each figure in is discussed in detail. Similarly, in Figures 32 to 37 and Figures 42 to 48 Not all elements may be labeled in each figure, but for consistency, reference numerals associated therewith may be used herein. Without departing from the scope of the present disclosure, reference numerals may be used herein to identify all elements. Figures 1-14 、 Figure 32-Figure 37 and Figures 42-48 One or more of the elements, components and / or features discussed herein may be included in Figures 1-14 、 Figure 32-Figure 37 and Figures 42-48 In general, elements that may be included in a given (i.e., specific) example are shown in solid lines, while elements that are optional for a given example are shown in dashed lines. However, elements shown in solid lines are not required for all examples, and elements shown in solid lines may be omitted from a specific example without departing from the scope of the present disclosure.

[0118] Figures 32 to 34 An example of a control system 142 including a control device 140 and an end effector 10 operatively coupled thereto is schematically shown. The control device 140 is generally configured to position and operate the end effector 10, such as to position and operate the end effector 10 to capture, manipulate, and / or engage an object. The control device 140 includes one or more elongated support arms 144, but in a Figures 32 to 3414. An elongated support arm 144 is shown in FIG. Each elongated support arm 144 extends from a respective proximal end 146 to a respective distal end 148. An end effector housing 150 (also referred to herein simply as "mount" 150) is configured to engage the end effector 10. In some examples, the mount 150 is configured to selectively receive and release the end effector 10. The mount 150 is generally coupled to the distal end 148 of at least one elongated support arm 144, or may be coupled to the at least one elongated support arm 144 within a distal region 148' of the support arm. The distal region 148' may be, for example, a region of the elongated support arm 144 proximal to the distal end 148, such as within 5%, 10%, or 20% of the length of the elongated support arm 144 distal to the distal end 148. In other examples, the mount 150 may be coupled to one or more elongated support arms 144 distal to the distal end 148 and outside of the distal region 148'.

[0119] The control device 140 also includes one or more input devices 152, such as a handle 154 operably coupled to at least one elongated support arm 144 (e.g., in examples of the control device 140 including more than one elongated support arm 144, the one or more handles 154 or other input devices 152 may each be operably coupled to one elongated support arm 144, or to two or more of the elongated support arms 144). The control device 140 may be configured to be manually operated by an operator via the handle 154 or other input device 152, or the control device 140 may be configured to be automated or remotely operated via one or more remote input devices 152. The input device 152 is configured to receive input from the operator, which is transmitted to the end effector 10. The input from the operator may be various types of input, including, but not limited to, manual or force-actuated input for positioning and moving the one or more elongated support arms 144, and / or control signals for controlling the end effector 10. For example, the handle 154 can be configured to transmit motional forces from an operator to the end effector 10 via one or more elongated support arms 144, and / or the handle 154 can be configured to generate and transmit one or more control signals based on the operator's input to the end effector 10. The control signals can include, but are not limited to, adjusting the roller direction, roller speed, and / or diameter of the end effector 10 to accommodate passive receptacles (also referred to herein as capture receptacles (e.g., annular receptacle 64) of varying diameters that are coupled to the target object 26, and / or increasing the outer perimeter 52 of the capture area of the end effector 10 to lock the annular receptacle 64 in place around the rollers 14, 16, 18 of the end effector 10 once the object is captured. Examples of diameter adjustment mechanisms that may be controlled via the disclosed control device 140 are described in U.S. Patent Application No. 18 / 317,407, filed May 15, 2023, entitled "APPARATUSES CONFIGURED TO ALLOW REAL-TIME ADJUSTMENTS OF LOCKING DIMENSIONS," the entire disclosure of which is hereby incorporated herein by reference. Additionally or alternatively, the control device 140 may include a handle 154 in the form of a passive grip handle configured to allow an operator (e.g., operator 170; see Figures 36 to 37 ) to stabilize the control device 140 during use.

[0120] Input device 152 can be coupled to proximal end 146 of at least one elongated support arm 144, or can be coupled to at least one elongated support arm 144 within a proximal region 146' of the support arm. Proximal region 146' can be, for example, an area of elongated support arm 144 proximal to proximal end 146, such as within 5%, 10%, or 20% of the length of elongated support arm 144 distal to proximal end 146. In other examples, input device 152 can be coupled to other areas of elongated support arm 144 that are external to proximal region 146' or distal to proximal end 146.

[0121] In different examples of the control device 140 , the elongated support arm 144 can be flexible, rigid, semi-rigid, curved, straight, and / or hollow. Figures 32 to 34 1 shows an example of a control device 140 in which the elongated support arm 144 is a stationary support arm that is at least substantially stationary relative to the handle 154. The elongated support arm 144 may include a bend 156 such that a first portion 158 of the elongated support arm 144 is disposed at a non-parallel angle relative to a second portion 160 of the elongated support arm 144. In some examples, and as Figure 32 , the first portion 158 can be substantially perpendicular to the second portion 160. The bend 156 can be a selectively removable portion of the elongated support arm 144 and can be selectively replaced with an angled element 162 configured to change the non-parallel angle between the first portion 158 and the second portion 160 of the elongated support arm 144. Additionally or alternatively, the elongated support arm 144 can be formed of a flexible material such that the non-parallel angle between the first portion 158 and the second portion 160 can be selectively adjustable.

[0122] refer to Figures 33 to 34 , the control device 140 may include a wrist joint 184 coupling the mount 150 to the at least one elongated support arm 144. The wrist joint 184 is configured to allow the mount 150 and the end effector 10 to rotate relative to the elongated support arm 144, as shown by comparing Figure 33 and Figure 34. The angle of wrist joint 184 in FIG. Wrist joint 184 is thereby rotated relative to at least one elongated support arm 144 such that the angle or orientation of wrist joint 184 relative to elongated support arm 144 can be selectively adjustable. In some examples, the angle or orientation of wrist joint 184 relative to elongated support arm 144 can be selectively lockable. For example, locking handle 155 or other input device 152 can be used to selectively lock the angle of wrist joint 184 relative to elongated support arm 144. In a particular example, locking handle 155 can be a twist grip handle (e.g., a locking pawl twist grip handle) operably coupled to Bowden cable 190 and return spring 192, configured to selectively control the angle or orientation of wrist joint 184 relative to at least one elongated support arm 144.

[0123] Additionally or alternatively, the control device 140 may include a flexible drive shaft extension 186 (e.g., a flexible cable to allow movement at the wrist joint 184) that is configured to transfer power from the drive system 188 (e.g., a motor) to the end effector 10 when the end effector 10 is coupled to the mount 150 when the drive system 188 is operated via the input device 152. For example, the input device 152 may include a mechanism for operator input of speed control and motor direction, with the signal, torque, and / or rotation being transferred to the end effector 10 via the flexible drive shaft extension 186. In some examples, the flexible drive shaft extension 186 may extend within the elongated support arm 144 (e.g., through a hollow opening of the elongated support arm 144, such as Figures 32 to 34 ), or may be coupled to the exterior of one or more elongated support arms 144, or may extend along one or more elongated support arms 144 (e.g., as shown in Figure 35 ). The flexible drive shaft extension 186 is generally operably coupled to the drive system 188 at one end and to the end effector 10 at the other end.

[0124] The drive system 188 can be any suitable drive system and will typically be spaced apart from the mount 150 and end effector 10 to achieve better weight distribution, although in some examples, the drive system 188 can be positioned near (and / or incorporated into) the mount 150 and end effector 10. The drive system 188 can include a variable speed and variable direction electric motor and / or a replaceable and / or rechargeable battery for power. Other suitable power sources for the drive system 188 can include a pneumatic air motor, a hydraulic motor, and / or an internal combustion engine. In some examples, the drive system 188 is generally coupled to the at least one elongated support arm 144 and can be positioned at the proximal end 146 or within the proximal end region 146' of the at least one elongated support arm 144. The drive system 188 is schematically illustrated as a handheld drill, but the drive system 188 is not limited to a handheld drill, as will be understood by those skilled in the art.

[0125] The disclosed control device 140 can be configured to automatically control the angular position of the end effector 10 through the range of motion of one or more slender support arms 144. In some examples, the control device 140 automatically maintains the end effector 10 in a desired angular position as the end effector 10 is raised and lowered or otherwise positioned (e.g., when the control device 140 is operated). For example, some control devices 140 automatically maintain the end effector 10 level with respect to gravity and / or the ground, while some control devices 140 automatically maintain the end effector 10 at a given angle relative to a target object or other reference point. For example, with reference to Figures 35 to 37 , when the second angle 168 of one or more elongated support arms 144 relative to the direction of gravity g is selectively changed, the first angle 164 of the upper surface 166 of the mount 150 relative to the direction of gravity g remains substantially constant (assuming the operator 170 is standing parallel to the gravity vector). In some examples, the control device 140 is configured to maintain the upper surface 166 of the mount 150 at a substantially perpendicular angle 164 relative to the direction of gravity g, thereby maintaining the end effector 10 (which is generally engaged with and / or supported by the upper surface 166 of the mount 150) at a substantially constant angle relative to the direction of gravity g while the elongated support arms 144 are moved to position the end effector 10 in space. For example, as Figures 36 to 37 As shown, the second angle 168 of the elongated support arm 144 is Figure 36 The position shown is Figure 37 The position shown is larger, Figure 37 In the illustrated position, the elongated support arm 144 has been moved upwardly toward the target object 26 , which the operator 170 is attempting to capture with the end effector 10 via the control device 140 .

[0126] refer to Figures 35 to 37 , the control device 140 may include two elongated support arms 144 in the form of a first elongated support arm 172 and a second elongated support arm 174, which may be at least substantially parallel to each other. Other examples of the control device 140 may include additional elongated support arms 144. The control device 140 may function as an articulated parallelogram, with the first elongated support arm 172 and the second elongated support arm 174 forming a portion of the articulated parallelogram. Additionally or alternatively, the control device 140 may form another type of four-bar linkage, having the first elongated support arm 172 and the second elongated support arm 174, and a distal link 176 and a proximal link 178 connecting the first elongated support arm 172 and the second elongated support arm 174. In examples where the operator 170 is not standing parallel to the gravity vector or where gravity is absent (e.g., in space or on a satellite), the angle of the orientation of the end effector 10 relative to the proximal link 178 may remain substantially constant. A distal link 176 couples the first elongated support arm 172 to the second elongated support arm 174 at or near the distal end 148 such that the angle formed between each elongated support arm 144 and the distal link 176 is selectively adjustable. The distal link 176 can be used to couple the mount 150 to the first elongated support arm 172 and / or the second elongated support arm 174, and / or the distal link 176 can be integrally formed with the mount 150. When the control device 140 includes a four-bar linkage as described herein, the distal link 176 typically serves as a coupler link.

[0127] Similarly, a proximal link 178 couples the first elongated support arm 172 to the second elongated support arm 174 at or near the proximal end 146 such that the angle formed between each elongated support arm 144 and the proximal link 178 is selectively adjustable. Thus, the angle of the proximal link 178 relative to the first elongated support arm 172 can be selectively adjusted to raise and lower the mount 150, and thereby selectively raise or lower the end effector 10 engaged with the mount 150. The proximal link 178 can be used to couple an operator mount 180 (e.g., a shoulder mount or a belt mount) to the first elongated support arm 172 and / or the second elongated support arm 174. Alternatively or additionally, the proximal link 178 can be integrally formed with the operator mount 180. When the control device 140 includes a four-bar linkage as described herein, the proximal link 178 generally serves as a grounding link. In such a four-bar linkage, the first elongated support arm 172 can serve as a driving link and the second elongated support arm 174 can serve as a driven link. The second elongated support arm 174 can connect the distal link 176 to the proximal link 178.

[0128] Figures 35 to 37 , an operator mount 180 is shown in the form of a shoulder mount 182 that is configured to engage the shoulder of the operator 170 when the control device 140 is in use, such that the control device 140 is configured to be secured to and supported by the shoulder of the operator 170 via the shoulder mount 182 when the control device 140 is in use. In some examples, the drive system 188 is coupled to the shoulder mount 182 (e.g., a shoulder strap, shoulder harness, shoulder support, etc.). In other examples, the operator mount 180 can be a belt mount configured to mount the control device 140 to the belt or waist of the operator 170, or can be otherwise mounted to other portions of the operator 170. Thus, the control device 140 can be configured to be wearable, portable, and / or handheld for manual operation by a single operator. As shown in Figures 36 to 37 As best seen in the figures, the shoulder mount 182 allows at least some of the weight of the control device 140 to be borne primarily by the operator's shoulders, while one or more handles 154, 155 or other input devices 152 are used to change the angle of the slender support arm 144 or otherwise manipulate the slender support arm 144 and position the mount 150 and end effector 10 relative to the target object 26.

[0129] Control device 140 (such as Figures 32 to 37) can be used with a variety of different types of end effectors 10. Although a roller-grip end effector 10 as described herein is shown using a disclosed control device 140, the control device 140 is not limited to use with such a roller-grip end effector 10. The control device 140 can be used with end effectors 10 having a plurality of different configurations. In such an example, the control device 140 can be configured to selectively transition the end effector 10 between a first configuration and a second configuration, and the control device 140 can include a locking mechanism configured to selectively lock the end effector 10 in a selected configuration of the first configuration and the second configuration. For example, a handle 154 (e.g., a twist grip handle 155) can be configured to selectively actuate the control device 140 between the first configuration and the second configuration. In certain examples of end effectors 10 having different configurations, the end effector 10 may be configured to allow adjustment of the diameter of the periphery defined by the rollers of the end effector (e.g., changing the capture diameter of the end effector to accept annular receptacles of different sizes, and / or increasing the diameter after capture to lock the target object to the rollers of the end effector), such as described in U.S. patent application Ser. No. 18 / 317,407, filed on May 15, 2023, entitled “APPARATUSESCONFIGURED TO ALLOW REAL-TIME ADJUSTMENTS OF LOCKING DIMENSIONS,” the entire disclosure of which is incorporated herein by reference.

[0130] Additionally or alternatively, the control device 140 may also include other features. For example, the at least one elongated support arm 144 may be retractable, such that it has a selectively adjustable length. Some examples of the control device 140 include an extension spring configured to bias the at least one elongated support arm 144 at a given angle, such that the extension spring is configured to at least partially support the weight of the control device 140 during use. In some examples, an aiming light or laser may be included, configured to guide the operator 170 in aligning the end effector 10 relative to the capture receptacle 64 of the target object 26.

[0131] Figures 38 to 39 The mounting base 150 is shown separated from the control device 140 in an assembled state ( Figure 38 ) and a breakdown diagram ( Figure 39The mount 150 may include a plurality of holes 198 configured to receive pins or other fasteners for pivotally securing the mount 150 to the elongated support arms 144 (e.g., the first elongated support arm 172 and the second elongated support arm 174) such that the elongated support arms 144 may selectively rotate or pivot relative to the mount 150. The mount 150 may also include a through-hole 212 through which one or more wires or cables (e.g., the flexible drive shaft extension 186) may extend to transmit power and control signals to the end effector 10.

[0132] The system 142 can be modular, wherein the end effector 10 can be selectively removed from the mount 150 and selectively replaced with a different end effector 10, which, in various examples, can be of different types, shapes, and / or sizes. The mount 150 can be configured to selectively quickly release the end effector 10, or one or more fasteners can be removed or adjusted to selectively release the end effector 10 from the mount 150. The mount 150 can include a platform 214 configured to support or engage the support base 38 of the end effector 10 on the upper surface 166 of the end effector 10. In some examples, a top ring 216 can be configured to sandwich the support base 38 of the end effector 10 between the top ring 216 and the platform 214 of the mount 150 to secure the end effector 10 to the mount 150.

[0133] Figures 40 to 41 An example of a passive receptacle 44 is shown in the form of an annular receptacle 64 that is coupleable to a target object to enable engagement with the end effector 10 of the control device 140 to engage, manipulate, capture and / or move and position the target object. Figure 40 The annular receptacle 64 includes a tapered edge guide 78 that can contact an upper surface of the end effector 10 (e.g., one or more rollers 14, 16, 18 of the end effector 10) during an attempt to align the annular receptacle 64 with the end effector 10. When the rollers of the end effector 10 contact the surfaces of the tapered edge guide 78, rotation of the rollers against the tapered edge guide 78 helps guide the annular receptacle 64 onto the end effector 10, wherein once the annular receptacle 64 is captured by the end effector 10, the inner periphery 218 of the annular receptacle 64 surrounds the outer periphery 52 created by the rollers 14, 16, 18 of the end effector 10. At least a portion of the tapered edge guide 78 can be provided with a grid or aperture pattern 220 (e.g., Figure 40 The hexagonal support pattern shown) may be used to allow airflow through the tapered edge guides 78 and / or to reduce the weight of the annular receptacle 64 while still providing a surface to assist in aligning the annular receptacle 64 with the end effector 10. Although Figure 40 A hexagonal pattern is shown, but other types of patterns are within the scope of the present disclosure, such as triangles, rectangles, circles, and other shapes. Figure 41 Another example of an annular receptacle 64 having a conformable grid cell pattern 220 along a tapered edge guide 78 is shown.

[0134] Figures 42 to 48 The following schematically illustrates potential applications and uses of the disclosed control device 140. For example, Figures 42 to 45 A UAV capture and launch application is shown using a multi-axis roller gripping end effector 10 as disclosed herein, engaged with a disclosed control device 140 on various platforms or control device support structures 222, such as by manual operation of an operator 170 ( Figure 42 ), used as a stationary manipulator ( Figure 43 ), used with mobile robot 194 ( Figure 44 ) and securing the control device 140 to the vessel-based system 196 ( Figure 45 ). The stationary robotic arm, mobile robot 194, and vessel-based system 196 are each examples of a control device support structure 222, and each can be configured to support and serve as a base for the control device 140 during use. Other examples of control device support structure 222 can include a vessel, an underwater vehicle, a spacecraft, a satellite, an aircraft, a transportation device, a building, and / or a land-based surface or structure. The input device 152 can be directly coupled to the control device 140 (e.g., as in the manually operated examples shown herein), or the input device 152 can be integrated into the platform in which the control device participates. For example, the input device 152 can be integrated into or coupled to: Figure 43 Stationary robotic arm device, Figure 44 Mobile robots 194 or Figure 45 The vessel-based system 196. Additionally or alternatively, the control device 140 can be configured to receive control signals and other inputs from a wireless input device 152 that is not directly coupled to the control device 140.

[0135] Figures 46 to 48 Examples of control devices 140 in pick and place operations are schematically shown. In these examples, the target object 26 may not be a UAV, but rather a box, package, parcel, or other stationary object 26, with an annular receptacle 64 in the form of an adapter ring 64 secured to the object. The control device 140 may then be used to position the end effector 10 to engage the adapter ring 64 of the target object 26 being moved or placed. Similar to Figures 42 to 45 In the capture and launch application shown in FIG, the control device 140 can be manually operated by the operator 170 ( Figure 46), through the control device 140 and the stationary robot arm ( Figure 47 ) integration, through the control device 140 and the mobile robot 194 ( Figure 48 ) and / or for use in pick and place operations through integration of the control device 140 with a vessel-based system 196. The control device 140 may be used to communicate with multiple target objects 26 (e.g., Figure 46 The controller 140 can be used to engage with the target objects 26a and 26b shown and move them in turn. In the disclosed example, the controller 140 can be used to position the end effector 10 relative to the target objects 26 so that the end effector 10 engages the adapter ring 64 to selectively pick up a box or package (e.g., the target object 26), and the end effector 10 is configured to release the adapter ring 64 to selectively place the box or package in a desired location by using the controller 140 to move the end effector 10 and thereby move the target object 26 along with the end effector 10 (when the two are selectively engaged). Similarly, the controller 140 can engage with a gripping-type end effector 10 to perform a gripping operation. Figure 46 and 48 The illustration shows an example where it may be desirable to maintain the end effector 10 at a set angular position that is not horizontal (e.g., not perpendicular to the direction of gravity). Instead, the control device 140 can be configured to automatically control the angular position of the end effector 10 so that its angular position relative to the passive receptacle 64 of the target object 26 is optimized.

[0136] therefore, Figures 42 to 48 An example of a system 142 is shown that includes a target object 26, wherein a control device 140 is configured to position an end effector 10 to selectively capture and release the object 26 via engagement between the end effector 10 and an annular receptacle 64 coupled to the target object 26, and an example of a system 142 in which the control device 140 is configured to perform a pick and place operation via engagement between the end effector 10 and the annular receptacle 64 of the target object 26. As described herein, the end effector 10 of the system 142 can be configured to engage or capture the annular receptacle 64 of the object 26 to selectively capture the object 26, and further configured to selectively release the annular receptacle 64 (e.g., by reversing the direction of rotation of the rollers 14, 16, 18 and / or reducing the diameter of the perimeter 52 created by the end effector 10) to selectively release the object 26.

[0137] Figure 49 Schematically provided is a flow chart representing an illustrative, non-exclusive example of a method 300 according to the present disclosure. Figure 49In the embodiment, some steps are shown in dashed boxes, which indicate that these steps may be optional or may correspond to optional versions of a given method 300 according to the present disclosure. That is, not all methods 300 according to the present disclosure need to include the steps shown in solid boxes. Figure 49 The method 300 and steps shown in are not limiting, and other methods and steps are within the scope of the present disclosure, including methods having more or less than the number of steps shown, as will be understood from the discussion herein.

[0138] Method 300 includes, at 302, coupling an end effector (e.g., end effector 10) to a mount of a control device (e.g., mount 150 of control device 140); operating the end effector at 304; and moving one or more elongated support arms (e.g., one or more elongated support arms 144) of the control device to move and / or position the end effector near a target object (e.g., target object 26) at 306. In some examples, operating the end effector at 304 includes adjusting the length of at least one elongated support arm (e.g., where the one or more elongated support arms are telescopic or otherwise have a selectively adjustable length), adjusting the angle of a bend of the one or more elongated support arms, and / or selectively adjusting the angle or orientation of a wrist joint (e.g., wrist joint 184) of the control device by operating a handle or other input device of the control device. Operating the end effector at 304 may include, for example, driving one or more motors of the end effector via one or more input devices, changing the direction of one or more rollers of the end effector, and / or changing the speed of one or more rollers of the end effector. The method 300 may also include, at 322 , changing an outer diameter produced by the end effector.

[0139] Additionally or alternatively, moving the elongated support arm to move and / or position the end effector at 306 may include locking the end effector in a selected configuration. Once the control device is used to position the end effector in proximity to the target object, the control device may further be used to position the end effector at 306 relative to a passive receptacle (e.g., annular receptacle 64 or column receptacle 80 (see FIG. 2 )) of the object (e.g., target object 26). Figure 10-12)) moves the end effector and actually engages the annular receptacle at 308, thereby manipulating, capturing, and / or engaging the object. As described herein, engaging the passive receptacle with the end effector at 308 can include contacting one or more rollers (e.g., rollers 14, 16, and / or 18) of the end effector with the passive receptacle. For example, engaging the receptacle at 308 can include gripping the passive receptacle with the end effector so that when capturing the object, the passive receptacle is positioned externally around a perimeter (e.g., perimeter 52) defined by the one or more rollers of the end effector. In other examples, engaging the receptacle at 308 can include dragging an enlarged protrusion (e.g., enlarged protrusion 86; see Figures 10 to 12 Additionally or alternatively, engaging the receptacle at 308 may include gripping the passive receptacle such that the passive receptacle is positioned within and between one or more rollers of the end effector.

[0140] The method 300 may include launching or releasing the target object from the end effector at 310. For example, launching or releasing the object from the end effector at 310 may include reversing the direction of rotation of one or more rollers of the end effector. In the method 300 of controlling a device for a pick and place operation, a package or load (e.g., the target object 26) may be picked up and moved at 312 after engaging the package or load with the end effector at 308, and then released at 310 once the object is placed in a desired location.

[0141] In some examples, method 300 includes removing a curved portion (e.g., curved portion 156) of at least one elongated support arm and replacing the curved portion by placing an angled element (e.g., angled element 162) between two portions of the elongated support arm, thereby switching or changing the angle of the elongated support arm, at 314. Additionally or alternatively, method 300 may include securing the control device to an operator (e.g., operator 170), such as by positioning a shoulder mount of the control device on the operator's shoulder or positioning a belt mount of the control device relative to the operator's waist or hips to secure the control device for use by the operator, at 316.

[0142] The method 300 may include selectively releasing the end effector from the mount to replace the end effector used with the control device for a different application at 318. Additionally or alternatively, the method 300 may include securing the control device to a fixed robotic arm, mobile robot, or other control device support structure at 320.

[0143] Illustrative, non-exclusive examples of the inventive subject matter according to the present disclosure are described in the following enumerated paragraphs:

[0144] A1. A control device for positioning and operating an end effector, the control device comprising:

[0145] one or more elongated support arms, wherein each of the one or more elongated support arms extends from a proximal end to a distal end;

[0146] a mount configured to engage an end effector, wherein the mount is coupled to a distal end or a distal region of at least one of the one or more elongated support arms; and

[0147] An input device is operatively connected to at least one of the one or more elongated support arms, wherein the input device is configured to transmit input from an operator to the end effector via the at least one of the one or more elongated support arms.

[0148] A1.1. The control device of paragraph A1, wherein the input device is configured to transmit motional force from the operator to the end effector through the one or more elongated support arms.

[0149] A1.2. The control device of paragraph A1 or A1.1, wherein the input device is configured to transmit one or more control signals from the operator to the end effector.

[0150] A1.3. The control device of paragraph A1.2, wherein the one or more control signals include roller direction, roller speed, and / or diameter adjustment for the end effector.

[0151] A2. The control device of any of paragraphs A1-A1.3, wherein the input device is coupled to a proximal end or a proximal region of at least one of the one or more elongated support arms.

[0152] A3. The control device of any of paragraphs A1-A2, wherein at least one of the one or more elongated support arms comprises a static support arm that is at least substantially stationary relative to the input device.

[0153] A4. The control device of any of paragraphs A1-A3, wherein at least one of the one or more elongated support arms is rigid or semi-rigid.

[0154] A5. A control device according to any of paragraphs A1-A4, wherein at least one of the one or more slender support arms includes a bend such that a first portion of the at least one slender support arm is arranged at a non-parallel angle relative to a second portion of the at least one slender support arm.

[0155] A6. The control device of paragraph A5, wherein the first portion of the at least one elongated support arm is at least substantially perpendicular to the second portion of the at least one elongated support arm.

[0156] A7. A control device according to any of paragraphs A5 to A6, wherein the bent portion of the at least one slender support arm is selectively removable from the at least one slender support arm and selectively replaceable with an angled element, which is configured to change the non-parallel angle between the first portion of the at least one slender support arm and the second portion of the at least one slender support arm.

[0157] A7.1. The control device of any of paragraphs A5 to A7, wherein the curved portion of the at least one elongated support arm comprises a flexible material such that the non-parallel angle is selectively adjustable.

[0158] A8. The control device of any of paragraphs A1-A7.1, wherein the control device is configured to automatically maintain the end effector level through a range of motion of the one or more elongated support arms.

[0159] A8.1. The control device of any of paragraphs A1-A8, wherein the control device is configured to automatically control the angular position of the end effector through a range of motion of the one or more elongated support arms.

[0160] A9. A control device according to any of paragraphs A1-A8.1, wherein the control device is configured so that when the second angle of the one or more slender support arms is selectively changed relative to the direction of gravity, the first angle of the upper surface of the mount remains substantially constant relative to the direction of gravity.

[0161] A10. The control device of any of paragraphs A1-A9, wherein the one or more elongated support arms include a first elongated support arm and a second elongated support arm, and wherein the second elongated support arm is at least substantially parallel to the first elongated support arm.

[0162] A11. The control device of paragraph A10, wherein the control device functions as an articulated parallelogram, wherein the first elongated support arm and the second elongated support arm form a portion of the articulated parallelogram.

[0163] A12. The control device of any of paragraphs A10-A11, wherein the control device comprises:

[0164] a distal link coupled to the first and second elongated support arms; and

[0165] A proximal link is coupled to the first elongated support arm and the second elongated support arm, wherein the distal link, the proximal link, the first elongated support arm, and the second elongated support arm together form a four-bar linkage.

[0166] A12.1. The control device of paragraph A12, wherein the distal link couples the mount to the first elongated support arm and / or the second elongated support arm.

[0167] A12.2. A control device according to paragraph A12 or A12.1, wherein the mounting seat is integrally formed with the distal link.

[0168] A12.3. The control device of any of paragraphs A12-A12.2, wherein the distal link is a coupler link of the four-bar linkage.

[0169] A12.4. The control device of any of paragraphs A12-A12.3, wherein the first elongated support arm is a drive link of a four-bar linkage.

[0170] A12.5. The control device of paragraph A12.4, wherein the input device is operably coupled to the first elongated support arm such that the input device is configured to transmit the motional force to the first elongated support arm.

[0171] A12.6. The control device of any of paragraphs A12-A12.5, wherein the second elongated support arm is a driven link of the four-bar linkage.

[0172] A12.7. The control device of paragraph A12.6, wherein the second elongated support arm is configured to connect the distal link to the proximal link.

[0173] A13. The control device of any of paragraphs A12-A12.7, wherein the angle of the proximal link relative to the first elongated support arm is selectively adjustable to raise and lower the mount.

[0174] A14. The control device of any of paragraphs A1-A13, further comprising a shoulder mount configured to engage a shoulder of an operator of the control device, such that the control device is configured to be supported by the operator's shoulder via the shoulder mount when the control device is in use.

[0175] A15. The control device of paragraph A14, wherein the shoulder mount is coupled to the proximal link.

[0176] A16. The control device of any of paragraphs A1-A15, wherein the mount is configured to selectively receive and release the end effector.

[0177] A17. The control device of any of paragraphs A1-A16, wherein the mount includes a platform configured to support a support base for the end effector thereon.

[0178] A18. The control device of paragraph A17, wherein the mount includes a top ring configured to clamp a support base of the end effector between the top ring and the platform.

[0179] A19. The control device of any of paragraphs A1-A18, wherein the control device includes a wrist joint that couples the mount to at least one of the one or more elongated support arms.

[0180] A20. The control device of any of paragraphs A1 to A19, further comprising a flexible drive shaft extension configured to transfer power from the drive system to the end effector when the end effector is coupled to the mount.

[0181] A21. The control device of paragraph A20, wherein the flexible drive shaft extension comprises a flexible cable.

[0182] A22. The control device of any of paragraphs A20 to A21, wherein the flexible drive shaft extension is secured to at least one of the one or more elongated support arms.

[0183] A22.1. The control device of any of paragraphs A20-A22, wherein the flexible drive shaft extension is operably coupled to the drive system and the end effector.

[0184] A23. The control device of any of paragraphs A20-A22.1, wherein the flexible drive shaft extension extends through the hollow opening of at least one of the one or more elongated support arms.

[0185] A24. The control device of any of paragraphs A1 to A23, further comprising a drive system configured to drive the end effector via the flexible drive shaft extension, wherein the drive system is spaced apart from the mount.

[0186] A24.1. The control device of paragraph A24, wherein the drive system includes a variable speed and direction motor.

[0187] A25. The control device of any of paragraphs A1-A24.1, wherein the drive system is coupled to at least one of the one or more elongated support arms at the proximal end or within a proximal region of the at least one elongated support arm.

[0188] A25.1. The control device of any of paragraphs A1-A25, wherein the drive system is coupled to a shoulder strap configured to secure the control device to an operator.

[0189] A26. The control device of any of paragraphs A1-A25.1, wherein the control device is wearable.

[0190] A27. The control device of any of paragraphs A1 to A26, further comprising a wrist joint, wherein the wrist joint couples the mount to at least one of the one or more elongated support arms, and wherein the wrist joint rotates relative to the at least one elongated support arm.

[0191] A27.1. A control device according to paragraph A27, wherein the angle or orientation of the wrist joint relative to at least one elongated support arm is selectively adjustable.

[0192] A27.2. A control device according to paragraph A27 or A27.1, wherein the angle or orientation of the wrist joint is selectively lockable.

[0193] A27.3. The control device of any of paragraphs A27-A27.2, further comprising a torsion grip handle having a bowden cable and a spring configured to selectively control the angle or orientation of the wrist joint relative to the at least one elongated support arm.

[0194] A28. The control device of any of paragraphs A1-A27.3, further comprising a shoulder strap configured to engage an operator's shoulder and / or shoulder mount to support and manipulate the control device.

[0195] A28.1. The control device of any of paragraphs A1 to A28, further comprising a belt mount configured to mount the control device to a belt or waist of an operator of the control device.

[0196] A29. The control device of any of paragraphs A1 to A28.1, wherein the control device is configured to be manually operated by a single operator.

[0197] A29.1. The control device of any of paragraphs A1 to A29, wherein the control device is configured to be handheld.

[0198] A30. The control device of any of paragraphs A1-A29.1, further comprising a passive grip handle configured to allow an operator to stabilize the control device during use.

[0199] A31. The control device of any of paragraphs A1-A30, wherein the input device is configured to control a speed and direction of a drive system configured to provide power to the end effector.

[0200] A32. The control device of any of paragraphs A1-A31, further comprising a locking pawl twist grip.

[0201] A33. A control device according to any of paragraphs A1-A32, wherein the control device is configured to selectively transition the end effector between a first configuration and a second configuration, and wherein the control device further includes a locking mechanism configured to selectively lock the end effector in a selected configuration between the first configuration and the second configuration.

[0202] A33.1. The control device of paragraph A33, wherein the twist grip handle is configured to selectively actuate the control device between the first configuration and the second configuration.

[0203] A33.2. The control device of paragraph A33.1, wherein the input device comprises the twist grip handle.

[0204] A34. The control device of any of paragraphs A1-A33.2, wherein at least one of the one or more elongated support arms is telescopic such that the at least one elongated support arm has a selectively adjustable length.

[0205] A35. The control device of any of paragraphs A1-A34, wherein the control device is configured for use with a stationary robotic arm.

[0206] A36. The control device of any of paragraphs A1-A35, wherein the control device is configured for use with a mobile robot.

[0207] A37. The control device of any of paragraphs A1-A36, wherein the control device is configured for use in a vessel-based system.

[0208] A38. The control device of any of paragraphs A1-A37, further comprising a replaceable rechargeable battery for powering a drive system of the control device.

[0209] A39. The control device of any of paragraphs A1-A38, further comprising a tension spring configured to bias at least one of the one or more elongated support arms at a given angle such that the tension spring is configured to at least partially support the weight of the control device when in use.

[0210] A40. The control device of any of paragraphs A1-A39, wherein the control device is configured to be portable.

[0211] A41. The control device of any of paragraphs A1 to A40, further comprising a power source that powers a drive system for the end effector and / or provides a powered adjustment mechanism for positioning and / or orienting the control device.

[0212] A42. The control device of paragraph A41, wherein the power source comprises a pneumatic air motor, an air compressor, a hydraulic motor, and / or a hydrostatic transmission.

[0213] A43. The control device of any of paragraphs A1 to A42, further comprising an aiming light or laser configured to guide an operator in aligning the end effector relative to the capture receptacle of the target object.

[0214] B1. A system comprising:

[0215] A control device according to any of paragraphs A1-A43; and

[0216] End effector.

[0217] B2. The system of paragraph B1, wherein the end effector is an end effector of any of paragraphs C1-C39.

[0218] B3. The system of any of paragraphs B1-B2, further comprising an object, wherein the control device is configured to position the end effector to selectively capture and release the object.

[0219] B4. The system of paragraph B3, wherein the end effector is configured to engage the annular receptacle of the object to selectively capture the object, and wherein the end effector is configured to release the annular receptacle to selectively release the object.

[0220] B5. The system of paragraph B4, wherein the annular receptacle of the object comprises a hexagonal, rectangular, or triangular grid pattern configured to allow airflow therethrough.

[0221] B6. The system of paragraphs B3-B5, wherein the object is an unmanned aerial vehicle (UAV).

[0222] B7. The system of any of paragraphs B1-B6, wherein the control device is configured to perform a pick and place operation via the end effector.

[0223] B8. The system of paragraph B7, further comprising an adapter ring configured to be secured to the box or package, wherein the end effector is configured to engage the adapter ring to selectively pick up the box or package, and wherein the end effector is configured to release the adapter ring to selectively place the box or package.

[0224] B9. A system according to any of paragraphs B1 to B8, further comprising a support structure that, when in use, supports and serves as a mounting base for the control device, wherein the support structure comprises a ship or other vessel, an underwater vehicle, a spacecraft, a satellite, an aircraft, a stationary robot, a mobile robot, a transport device, a robotic device, a building, and / or a land-based surface or structure.

[0225] B10. The system of any of paragraphs B1-B9, wherein the control device is configured to perform a grasping operation via the end effector.

[0226] B11. The system of any of paragraphs B1-B10, wherein the end effector comprises at least one roller.

[0227] B12. The system of any of paragraphs B1-B11, wherein the end effector comprises a gripping end effector.

[0228] B13. The system of any of paragraphs B1-B12, wherein the end effector comprises a multi-directional roller gripper.

[0229] C1. An end effector comprising:

[0230] a first roller configured to rotate in a first plane; and

[0231] a second roller configured to rotate in a second plane, wherein the second plane is not parallel to the first plane, wherein the first roller and the second roller are arranged relative to each other such that the end effector is configured to capture an object via the first roller and the second roller, and such that the end effector is further configured to selectively release the object from the first roller and the second roller.

[0232] C2. The end effector of paragraph C1, further comprising a drive system configured to rotate the first roller and the second roller.

[0233] C3. The end effector of paragraph C2, wherein the drive system includes a drive shaft operably coupled to the first roller and the second roller such that the drive shaft is configured to transfer rotational motion from the motor to the first roller and the second roller.

[0234] C4. The end effector of paragraph C2 or C3, wherein the drive system includes a motor configured to drive the first roller and the second roller.

[0235] C5. An end effector according to any of paragraphs C2 to C4, wherein the drive system includes a central control gear and a plurality of radially spaced spur gears, wherein the central control gear is configured to rotate the plurality of radially spaced spur gears, wherein each respective spur gear is configured to drive a respective roller.

[0236] C5.1. The end effector of paragraph C5, wherein the central control gear is centrally positioned between the plurality of radially spaced spur gears.

[0237] C6. The end effector of any of paragraphs C2 to C5.1, wherein the drive system includes a respective bevel gear for each respective roller.

[0238] C7. The end effector of any of paragraphs C2 to C5.1, wherein the drive system includes a respective worm gear for each respective roller.

[0239] C8. The end effector of any of paragraphs C2 or C5-C7, wherein the drive system includes a respective motor for each respective roller.

[0240] C9. The end effector of any of paragraphs C2 to C8, wherein the drive system includes an external control gear ring configured to rotate the plurality of radially spaced spur gears, wherein each respective spur gear is configured to drive a respective roller.

[0241] C10. The end effector of any of paragraphs C2 to C9, wherein the drive system further comprises a limit switch configured to stop the first roller and / or the second roller after capturing the object.

[0242] C11. The end effector of any of paragraphs C1 to C10, wherein the first roller is configured to selectively reverse between two opposite rotational directions, and wherein the second roller is configured to selectively reverse between two opposite rotational directions.

[0243] C11.1. The end effector of any of paragraphs C1 to C11, wherein the first roller is configured to selectively change speed, and wherein the second roller is configured to selectively change speed.

[0244] C12. The end effector of any of paragraphs C1 to C11.1, wherein the end effector is configured to capture the object while the object floats, hovers, and / or flies above, beside, below, and / or adjacent to the end effector.

[0245] C12.1. The end effector of any of paragraphs C1 to C12, wherein the end effector is configured to capture a stationary object while the end effector is moved to the stationary object.

[0246] C13. The end effector of any of paragraphs C1 to C12.1, wherein the end effector is configured to capture the object when the object is misaligned with the end effector along a plurality of positional axes and / or rotational axes.

[0247] C13.1. An end effector according to any of paragraphs C1-C13, wherein the end effector is configured to capture the object from a full 360-degree range of azimuth angles.

[0248] C14. The end effector of any of paragraphs C1 to C13.1, wherein the end effector is coupled to a support structure.

[0249] C15. The end effector of paragraph C14, wherein the support structure comprises an arm, a rod, a handle, and / or a platform.

[0250] C16. The end effector of any of paragraphs C1 to C15, wherein the end effector is configured for manual operation.

[0251] C17. The end effector of any of paragraphs C1-C16, wherein the end effector is configured for automated operation.

[0252] C18. The end effector of any of paragraphs C1 to C17, wherein the end effector is configured to be implemented using a robotic device, a transport device, a stationary robotic arm, a land-based system, a mobile robot, and / or a ship-based system.

[0253] C19. The end effector of any of paragraphs C1 to C18, wherein the end effector is configured to capture the object via a passive receptacle of the object.

[0254] C19.1. The end effector of paragraph C19, wherein the end effector is configured to automatically lock the passive receptacle in place once the passive receptacle is grasped and pulled past the first centerline of the first roller and the second centerline of the second roller.

[0255] C20. The end effector of paragraph C19 or C19.1, wherein the passive receptacle comprises an annular receptacle.

[0256] C21. The end effector of any of paragraphs C19 to C20, wherein the passive receptacle comprises a post receptacle.

[0257] C22. The end effector of any of paragraphs C19 to C21, wherein the end effector is configured to grip the passive receptacle such that the passive receptacle is positioned inside and between the first roller and the second roller, thereby capturing the object.

[0258] C23. The end effector of any of paragraphs C19 to C22, wherein the end effector is configured to grasp the passive receptacle when capturing the object such that the passive receptacle is positioned externally around a perimeter defined by the first roller and the second roller.

[0259] C24. The end effector of any of paragraphs C1 to C23, further comprising at least one stop structure configured to support the object and limit movement of the object when the object is captured by the end effector.

[0260] C24.2. The end effector of any of paragraphs C24 to C24, wherein the at least one stop structure is coupled to or forms part of a passive receptacle of the object.

[0261] C25. The end effector of any of paragraphs C1 to C24.1, further comprising a support element that supports the first roller, the second roller, and / or the drive system.

[0262] C26. The end effector of any of paragraphs C1 to C25, wherein the object the end effector is configured to capture and selectively release comprises an aerial vehicle.

[0263] C27. The end effector of any of paragraphs C1 to C26, wherein the first roller and / or the second roller include an airless tire, a pneumatic tire, a rubber wheel, a belt, and / or a solid wheel.

[0264] C28. The end effector of any of paragraphs C1 to C27, wherein the first roller and / or the second roller are rigid, compliant, and / or compressible.

[0265] C29. The end effector of any of paragraphs C1 to C28, wherein the first roller and / or the second roller includes one or more compliant regions.

[0266] C30. The end effector of any of paragraphs C1 to C29, wherein the first roller and / or the second roller has a durometer selected based on characteristics of the object being captured.

[0267] C30.1. The end effector of any of paragraphs C1 to C30, wherein the first roller and / or the second roller has a durometer selected based on a passive receptacle of an object being captured.

[0268] C31. The end effector of any of paragraphs C1 to C30.1, wherein the first roller and / or the second roller includes a central groove formed in a peripheral surface of the first roller and / or the second roller.

[0269] C32. The end effector of paragraph C31, wherein the central groove is configured to improve alignment of the object when capturing the object.

[0270] C32.1. The end effector of paragraph C31 or C32, further comprising secondary features on the peripheral surface, wherein the secondary features are configured to enhance the ability to capture an object.

[0271] C32.2. The end effector of paragraph C32.1, wherein the second feature comprises one or more radial grooves and / or tread patterns.

[0272] C33. The end effector of any of paragraphs C1 to C32.2, further comprising one or more additional rollers, wherein each respective roller of the one or more additional rollers is configured to rotate in a respective plane that is non-parallel to the first plane and the second plane.

[0273] C34. The end effector of any of paragraphs C1 to C33, further comprising a third roller, wherein the third roller is configured to rotate in a third plane that is non-parallel to the first plane and the second plane.

[0274] C35. The end effector of paragraph C34, wherein the first roller, the second roller, and the third roller are arranged such that the first plane, the second plane, and the third plane intersect each other.

[0275] C36. The end effector of any of paragraphs C1 to C35, further comprising a support element that supports the first roller, the second roller, the third roller, the stop structure, the backstop, and / or the drive system.

[0276] C37. The end effector of any of paragraphs C1 to C36, wherein the end effector is configured to be modular such that the end effector is selectively reconfigured to have a different number of rollers, multiple drive shaft mounts, and / or structural attachment points.

[0277] C38. The end effector of any of paragraphs C1 to C37, further comprising a backstop positioned to engage the object when the object is captured by the first roller and the second roller.

[0278] C39. An end effector comprising:

[0279] A plurality of rollers, wherein the plurality of rollers comprises:

[0280] First roller;

[0281] Second roller;

[0282] a third roller; and

[0283] at least one or more additional rollers;

[0284] a drive system configured to selectively rotate the plurality of rollers, wherein the drive system is configured to selectively reverse each of the plurality of rollers between a first rotational direction and an opposite second rotational direction; and

[0285] A support base is configured to support a plurality of rollers, wherein the plurality of rollers are arranged relative to each other such that an end effector is configured to capture an object via rotation of the plurality of rollers, wherein the end effector is further configured to selectively release the object from the plurality of rollers by reversing the rotation of the plurality of rollers, and wherein at least one of the plurality of rollers is arranged in a first plane that is non-parallel to a second plane in which at least one other of the plurality of rollers is arranged.

[0286] D1. A method for joining objects, the method comprising:

[0287] coupling an end effector to a mount of a control device according to any of paragraphs A1 to A43; and

[0288] One or more elongated support arms are moved to position the end effector to manipulate, capture, and / or engage an object.

[0289] D2. The method of paragraph D1, wherein the end effector comprises an end effector of any of paragraphs C1 to C39.

[0290] D3. The method according to any of paragraphs D1-D2, further comprising:

[0291] positioning the end effector relative to a passive receptacle of the object; and

[0292] The passive receptacle is engaged with the end effector to manipulate, capture, and / or engage an object.

[0293] D4. The method of any of paragraphs D1-D3, wherein engaging the passive receptacle with the end effector includes contacting the first roller and / or the second roller of the end effector with the passive receptacle.

[0294] D5. A method according to any of paragraphs D1-D4, wherein engaging the passive receptacle includes capturing the passive receptacle via the end effector by rotating the first roller in a first direction and rotating the second roller in a second direction, thereby pulling at least a portion of the passive receptacle through a first centerline of the first roller and a second centerline of the second roller.

[0295] D6. The method of any of paragraphs D1-D5, wherein the passive receptacle comprises an annular receptacle.

[0296] D7. The method of any of paragraphs D1 to D6, comprising: gripping the passive receptacle with the end effector such that when the object is captured, the passive receptacle is positioned exteriorly around a perimeter defined by the first and second rollers of the end effector.

[0297] D8. The method of any of paragraphs D1-D7, wherein the passive receptacle comprises a post receptacle.

[0298] D9. The method of paragraph D8, wherein the post receptacle comprises an elongated post or pin extending to a distal end of the post receptacle, the distal end comprising an enlarged protrusion.

[0299] D10. The method of paragraph D9, comprising capturing the passive receptacle by pulling the enlarged protrusion across a first centerline of the first roller and a second centerline of the second roller of the end effector.

[0300] D11. The method of any of paragraphs D1 to D10, comprising capturing the passive receptacle by grasping the passive receptacle such that the passive receptacle is positioned inside and between the first and second rollers of the end effector.

[0301] D12. The method of any of paragraphs D1 to D11, further comprising launching or releasing the object from the end effector.

[0302] D13. The method of paragraph D12, wherein launching or releasing the object from the end effector includes reversing a direction of rotation of the first roller and the second roller.

[0303] D14. The method of any of paragraphs D1 to D13, comprising picking up and / or moving the package or load by engaging the package or load with an end effector, and then moving the end effector by moving one or more elongated support arms.

[0304] D15. The method according to any of paragraphs D1-D14, further comprising:

[0305] removing a bend in at least one of the one or more elongated support arms; and

[0306] An angled element is positioned between the first portion of the at least one elongated support arm and the second portion of the at least one elongated support arm.

[0307] D16. The method of any of paragraphs D1 to D15, wherein the control device is secured to the operator by positioning a shoulder mount of the control device on the operator's shoulder.

[0308] D17. The method of any of paragraphs D1 to D16, further comprising selectively releasing the end effector from the mount.

[0309] D18. The method of any of paragraphs D1 to D17, further comprising selectively adjusting the angle or orientation of a wrist joint of the control device by operating a handle and / or input device of the control device.

[0310] D19. The method of any of paragraphs D1 to D18, further comprising locking the end effector in the selected configuration.

[0311] D20. The method of any of paragraphs D1-D19, further comprising adjusting a length of at least one of the one or more elongated support arms.

[0312] D21. The method of any of paragraphs D1-D20, further comprising securing the control device to / the stationary robotic arm, wherein the stationary robotic arm is configured to operate the control device.

[0313] D22. The method of any of paragraphs D1 to D21, further comprising securing a control device to / the mobile robot, wherein the mobile robot is configured to operate the control device.

[0314] E1. Use of a control device according to any of paragraphs A1-A43 for capturing and / or releasing an aerial vehicle.

[0315] E2. Use of a control device according to any of paragraphs A1-A43 and an end effector according to any of paragraphs C1-C39 for capturing and / or releasing an aerial vehicle.

[0316] E3. Use of a control device according to any of paragraphs A1-A43 for lifting and / or loading packages or loads.

[0317] E4. Use of a control device according to any of paragraphs A1 to A43 and an end effector according to any of paragraphs C1 to C39 for lifting and / or loading a package or load.

[0318] E5. Use of a control device according to any of paragraphs A1-A43 for a pick and place operation.

[0319] E6. Use of a control device according to any of paragraphs A1 to A43 and an end effector according to any of paragraphs C1 to C39 for a pick and place operation.

[0320] E7. Use of a system according to any of paragraphs B1 to B13 for capturing and / or releasing an aircraft.

[0321] E8. Use of a system according to any of paragraphs B1-B13 for lifting and / or loading packages or loads.

[0322] E9. Use of a system according to any of paragraphs B1-B13 for pick and place operations.

[0323] As used herein, when modifying an action, movement, configuration, or other activity of one or more components or characteristics of an apparatus, the terms "selective" and "selectively" mean that the particular action, movement, configuration, or other activity is a direct or indirect result of user manipulation of a dynamic process and / or aspect of one or more components of the apparatus. Thus, the terms "selective" and "selectively" can characterize an activity that is a direct or indirect result of user manipulation of an aspect of a device or one or more components, or can characterize a process that occurs automatically, such as via the mechanisms disclosed herein.

[0324] As used herein, the terms "adaptation" and "configuration" refer to that an element, component or other subject is designed and / or intended to perform a given function. Therefore, the use of the terms "adaptation" and "configuration" should not be interpreted as meaning that a given element, component or other subject is only "capable of" performing a given function, but rather that the element, component and / or other subject is specifically selected, created, implemented, utilized, programmed, and / or designed for the purpose of performing the function. Below, also within the scope of this disclosure, the subject matter described as an element, component and / or other narration that is adapted to perform a specific function may be described additionally or alternatively as being configured to perform the function, and vice versa. Similarly, the subject matter described as being configured to perform a specific function may be described additionally or alternatively as being operable to perform the function.

[0325] As used herein, the phrase "at least one" in reference to a list of one or more entities should be understood to refer to at least one entity selected from any one or more entities in the list of entities, but does not necessarily include at least one of each and every entity specifically listed within the list of entities, and does not exclude any combination of entities in the list of entities. This definition also allows for the optional presence of entities other than the entities specifically identified within the list of entities to which the phrase "at least one" refers, whether related or unrelated to those entities specifically identified. Thus, as a non-limiting example, "at least one of A and B" (or equivalently, "at least one of A or B," or equivalently, "at least one of A and / or B") can, in one example, refer to at least one (optionally including more than one) A without B (and optionally including entities other than B); in another example, refer to at least one (optionally including more than one) B without A (and optionally including entities other than A); and in yet another example, refer to at least one (optionally including more than one) A and at least one (optionally including more than one) B (and optionally including other entities). In other words, the phrases "at least one," "one or more," and "and / or" are open-ended expressions that are both conjunctive and disjunctive in operation. For example, each of the expressions "at least one of A, B, and C," "at least one of A, B, or C," "one or more of A, B, and C," "one or more of A, B, or C," and "A, B, and / or C" can mean A alone, B alone, C alone, A and B together, A and C together, B and C together, or A, B, and C together, and optionally any of the foregoing in combination with at least one other entity.

[0326] The steps of the various disclosed elements and methods of the devices disclosed herein are not necessary according to all devices and methods of the present disclosure, and the present disclosure includes all novel and non-obvious combinations and sub-combinations of the various elements and steps disclosed herein. In addition, one or more of the various elements and steps disclosed herein may define an independent invention theme that is separate and separated from the entirety of the disclosed device or method. Therefore, this invention theme does not need to be associated with the specific device and method clearly disclosed herein, and this invention theme may find application in devices and / or methods that are not clearly disclosed herein.

[0327] As used herein, the phrases "for example," "as an example," and / or simply the term "example," when used with reference to one or more components, features, details, structures, examples, and / or methods according to the present disclosure, are intended to convey that the described components, features, details, structures, examples, and / or methods are illustrative, non-exclusive examples of components, features, details, structures, examples, and / or methods according to the present disclosure. Thus, the described components, features, details, structures, examples, and / or methods are not intended to be limiting, required, or exclusive / exhaustive; and other components, features, details, structures, examples, and / or methods, including components, features, details, structures, examples, and / or methods that are similar and / or equivalent in structure and / or function, are also within the scope of the present disclosure.

Claims

1. A control device (140) for positioning and operating an end effector (10), the control device (140) comprising: one or more elongated support arms (144), wherein each elongated support arm (144) of the one or more elongated support arms (144) extends from a proximal end (146) to a distal end (148); a mount (150) configured to engage the end effector (10), wherein the mount (150) is coupled to a distal end (148) or distal end region (148') of at least one of the one or more elongated support arms (144); and An input device (152) operatively coupled to at least one of the one or more elongated support arms (144), wherein the input device (152) is configured to transmit input from an operator (170) to the end effector (10) via at least one of the one or more elongated support arms (144), and wherein the control device (140) is configured to automatically control the angular position of the end effector (10) through a range of motion of the one or more elongated support arms (144).

2. The control device (140) according to claim 1, wherein: The input device (152) includes a handle (154) configured to transmit motion force from the operator (170) to the end effector (10) through the one or more slender support arms (144), and wherein the handle (154) is further configured to transmit one or more control signals from the operator (170) to the end effector (10).

3. The control device (140) of claim 2, wherein the one or more control signals include at least one selected from the group consisting of: a roller direction, a roller speed, and a diameter adjustment for the end effector (10).

4. The control device (140) according to claim 1, wherein: The one or more elongated support arms (144) include a first elongated support arm (172) and a second elongated support arm (174), wherein the second elongated support arm (174) is at least substantially parallel to the first elongated support arm (172), and wherein the control device (140) acts as an articulated parallelogram, wherein the first elongated support arm (172) and the second elongated support arm (174) form part of the articulated parallelogram.

5. The control device (140) according to claim 4, wherein: The control device (140) includes: a distal link (176) coupled to the first elongated support arm (172) and the second elongated support arm (174); and A proximal link (178) is coupled to the first elongated support arm (172) and the second elongated support arm (174), wherein the distal link (176), the proximal link (178), the first elongated support arm (172), and the second elongated support arm (174) together form a four-bar linkage.

6. The control device (140) according to claim 5, wherein: The distal link (176) couples the mount (150) to the first elongated support arm (172) and the second elongated support arm (174).

7. The control device (140) according to claim 6, wherein: The mounting seat (150) is integrally formed with the distal link (176).

8. The control device (140) according to claim 6, wherein: The distal link (176) is a connector link of the four-bar linkage, wherein the first elongated support arm (172) is a driving link of the four-bar linkage, wherein the second elongated support arm (174) is a follower link of the four-bar linkage, and wherein the second elongated support arm (174) is configured to connect the distal link (176) to the proximal link (178) such that the angle of the proximal link (178) relative to the first elongated support arm (172) is selectively adjustable to raise and lower the mount (150).

9. The control device (140) according to claim 1, further comprising: A shoulder mount (182) is configured to engage a shoulder of an operator (170) of the control device (140) such that the control device (140) is configured to be supported by the shoulder of the operator (170) via the shoulder mount (182) when the control device (140) is in use.

10. The control device (140) according to claim 1, further comprising: A flexible drive shaft extension (186) is configured to transfer power from a drive system (188) to the end effector (10) when the end effector (10) is coupled to the mount (150).

11. The control device (140) according to claim 10, wherein: The flexible drive shaft extension (186) extends through the hollow opening of at least one of the one or more elongated support arms (144).

12. The control device (140) according to claim 10, further comprising: The drive system (188) is configured to drive the end effector (10) via the flexible drive shaft extension (186), wherein the drive system (188) is spaced apart from the mount (150), and wherein the drive system (188) includes a variable speed and variable direction motor.

13. The control device (140) according to claim 1, further comprising a wrist joint (184), wherein The wrist joint (184) couples the mount (150) to at least one of the one or more elongated support arms (144), and wherein the wrist joint (184) rotates relative to the at least one elongated support arm.

14. The control device (140) according to claim 1, wherein: The control device (140) is configured to selectively transition the end effector (10) between a first configuration and a second configuration, and wherein the control device (140) further includes a locking mechanism configured to selectively lock the end effector (10) in a selected configuration between the first configuration and the second configuration, and wherein the control device (140) further includes a twist grip handle (155) configured to selectively actuate the control device (140) between the first configuration and the second configuration.

15. The control device (140) according to claim 1, wherein At least one of the one or more elongated support arms (144) is telescopic such that the at least one elongated support arm (144) has a selectively adjustable length.

16. The control device (140) according to claim 1, further comprising: A tension spring configured to bias at least one of the one or more elongated support arms (144) at a given angle such that the tension spring is configured to at least partially support the weight of the control device (140) when in use.

17. A system (12) for joining an object (26), comprising: The control device (140) according to claim 1; as well as End effector (10).

18. The system according to claim 17, wherein: The end effector (10) comprises: a first roller (14) configured to rotate in a first plane (118); and a second roller (16) configured to rotate in a second plane (120), wherein the second plane (120) is non-parallel to the first plane (118), wherein the first roller (14) and the second roller (16) are arranged relative to each other such that the end effector (10) is configured to capture an object (26) via the first roller (14) and the second roller (16), and such that the end effector (10) is also configured to selectively release the object (26) from the first roller (14) and the second roller (16).

19. A control device (140) for positioning and operating an end effector (10), the control device (140) comprising: one or more elongated support arms (144), wherein each elongated support arm (144) of the one or more elongated support arms (144) extends from a proximal end (146) to a distal end (148), wherein at least one elongated support arm (144) of the one or more elongated support arms (144) includes a bend such that a first portion (158) of the at least one elongated support arm (144) is arranged at a non-parallel angle relative to a second portion (160) of the at least one elongated support arm (144), and wherein the bend of the at least one elongated support arm (144) is selectively removable from the at least one elongated support arm (144) and selectively replaceable with an angled element configured to change the non-parallel angle between the first portion (158) of the at least one elongated support arm (144) and the second portion (160) of the at least one elongated support arm (144); a mount (150) configured to engage the end effector (10), wherein the mount (150) is coupled to a distal end (148) or distal end region (148') of at least one of the one or more elongated support arms (144); and An input device (152) operatively connected to at least one of the one or more elongated support arms (144), wherein the input device (152) is configured to transmit input from an operator (170) of the control device (140) to the end effector (10) via at least one of the one or more elongated support arms (144).

20. A method (300) of joining objects (26), the method (300) comprising: coupling (302) an end effector (10) to a mounting (150) of a control device (140) according to claim 1; as well as The one or more elongated support arms (144) are moved (306) to position the end effector (10) to manipulate, capture, or engage the object (26).

Images