Control devices for end effectors with multi-axis roller wheels, systems including the same, and related methods

Abstract

To provide end effectors and systems that capture a target object, release the target object, and / or create a mating engagement between the end effector and the target object, e.g., in capture and launch, grasping, or pick-and-place.SOLUTION: The end effectors are tolerant of positional and rotational misalignment of the target object, and may include a plurality of roller wheels, one or more of which is arranged in a non-parallel plane with respect to one or more other roller wheels. Control devices enable operation of these and other end effectors in a portable, self-contained system that a single operator can use in a hand-held or wearable form. The control devices may include a drive system for power transfer, manual and automatic leveling, or angular positioning mechanisms, and / or operator-mounting features.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] Related Applications This application is a continuation-in-part of and claims priority to U.S. Patent Application No. 17 / 551,049, filed December 14, 2021, entitled "END EFFECTORS WITH MULTI-AXIS ROLLER WHEELS, SYSTEMS INCLUDING THE SAME, AND RELATED METHODS," the entire disclosure of which is incorporated herein by reference.

[0002] The present disclosure relates generally to end effectors, and more particularly to a portable system that enables operation of an end effector having two or more roller wheels configured to capture and / or release objects via a passive receptacle. [Background technology]

[0003] The ability to grab, capture, or engage with air vehicles, such as unmanned aerial vehicles (UAVs) and other small hovering aircraft, is often desirable, especially when the need to land the aircraft in a safe location is a concern for the operation of such vehicles. For example, landing, grasping, capturing, and / or engaging such air vehicles can be difficult in adverse and / or unpredictable conditions (e.g., windy weather), in environments with rough terrain without a flat place to land, and / or when operating via a moving platform such as a boat or ship. Safely releasing or launching such air vehicles in these conditions is also difficult.

[0004] While several systems exist that address some of these issues, these solutions may not be adaptable to hovering UAVs such as quadrotor and coaxial rotor vehicles. Attempts have been made to grasp hovering vehicles from the air using conventional articulated robotic grippers or locking interfaces (which can rapidly actuate to grasp mating receptacles on a moving vehicle) combined with low-latency vision systems and high-speed robotic manipulator arms. To safely and stably capture a hovering aircraft or other target object, precise alignment with the moving target object, along with accurate three-dimensional localization and timing, is often required, which is complex, expensive, and difficult to maintain in the field. Furthermore, misalignment between these types of grippers and the target object (e.g., due to a limited range of feasible approach angles) risks damaging the target object when attempting to capture it, thus leaving little margin for error. These challenges are compounded by the often-rapid changes in the position and orientation of the aircraft or other object (either or both may be moving) relative to the capture device.

[0005] Capturing a flying or hovering object that can move with six degrees of freedom requires very precise alignment of the gripper or a gripper that can tolerate large misalignments 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 grasping objects such as hovering aircraft because they do not support multiple axis misalignments to enable the multi-dimensional capture required when capturing a hovering aircraft. What is needed is a portable, self-contained system that an operator can use to capture and engage unmanned aerial vehicles and other target objects, that allows the target object to be approached from any angle covering a full 360-degree range of azimuth, and that can withstand adverse and unpredictable conditions that may result in target object misalignment. Summary of the Invention

[0006] The disclosed end effector systems and controls may be configured to enable capture, release, and / or engagement between an end effector and a hovering aircraft or other target object (also referred to herein simply as an “object”) via a portable, self-contained system controlled by a single operator. While the controls and systems may be provided in a grippable or wearable form factor, the end effector may be configured to provide multi-axis capture capabilities to tolerate positional and rotational misalignment of the target object, including the ability to capture an object at a full 360-degree range of approach azimuth angles relative to the end effector. The systems and controls described herein may be used with end effectors configured to capture and launch unmanned aerial vehicles, for general-purpose gripping operations, and / or for pick-and-place applications. Furthermore, the end effectors may be configured to operate in manual or automated modes from a static or moving platform. The end effectors may be modular, allowing them to be configured or reconfigured for various applications. The disclosed end effector generally includes a plurality of multi-directional rotor wheels, at least one of which is in non-parallel planes of rotation, that may be arranged in a plurality of different patterns and axial arrangements.

[0007] In one exemplary embodiment, a control device for positioning and manipulating an end effector may include one or more elongated support arms, a housing, and an input device, such as one or more handles. Each elongated support arm of the one or more elongated support arms may extend from a proximal end to a distal end, while the housing may be configured to engage the end effector. The housing may be coupled to a distal end or within a distal end 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 a range of motion of the one or more elongated support arms.

[0008] The disclosed systems include a controller and an end effector that the controller is designed to control. In exemplary embodiments, the end effector includes a first roller wheel configured to rotate in a first plane and a second roller wheel configured to rotate in a second plane. The second plane can be non-parallel to the first plane, and the first and second roller wheels are positioned relative to one another such that the end effector is configured to capture an object via the first and second roller wheels, and the end effector is further configured to selectively release the object from the first and second roller wheels. In other disclosed systems, different types of end effectors can be used with the disclosed controller.

[0009] Another exemplary embodiment of the disclosed control device includes one or more elongated support arms, each of which extends from a proximal end to a distal end. At least one of the one or more elongated support arms may include a bend, whereby 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 detachable 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 and second portions of the at least one elongated support arm. A housing configured to engage an end effector may be coupled to a distal end or within a distal end 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. The input device is thereby configured to transmit input from an operator to the end effector via at least one of the one or more elongated support arms.

[0010] Disclosed methods of capturing or otherwise engaging an object may include coupling an end effector to a housing of a disclosed control device and moving one or more elongated support arms to position the end effector to manipulate, capture, and / or engage the object. [Brief explanation of the drawings]

[0011] [Figure 1] 1A-1C are top schematic views of non-exclusive examples of end effectors and systems including end effectors according to the present disclosure. [Figure 2] 1 is a side elevational schematic view of a non-exclusive example of an end effector and a system including the end effector according to the present disclosure; FIG. [Figure 3] FIG. 10 is a side elevational schematic view of a passive receptacle approaching an end effector in accordance with the present disclosure; [Figure 4] FIG. 10 is a side elevation schematic view of a passive receptacle in the process of being captured by an end effector in accordance with the present disclosure; [Figure 5] FIG. 10 is a side elevational schematic view of a passive receptacle effectively locked in place on and captured by an end effector. [Figure 6] FIG. 10 is a side elevation schematic view of a passive receptacle in the process of being fired or released from an end effector in accordance with the present disclosure; [Figure 7] FIG. 10 is a side elevational schematic view of a passive receptacle misaligned relative to an end effector. [Figure 8] FIG. 10 is a side elevational schematic view of a passive receptacle rotationally offset relative to the end effector. [Figure 9] FIG. 10 is a side elevational schematic view of a passive receptacle misaligned relative to an end effector. [Figure 10] FIG. 10 is a side elevation schematic view of a passive receptacle in the process of being captured by an end effector in accordance with the present disclosure; [Figure 11] FIG. 10 is a side elevational schematic view of a passive receptacle effectively locked in place on and captured by an end effector. [Figure 12] FIG. 10 is a side elevational schematic view of the firing of a passive receptacle from an end effector in accordance with the present disclosure; [Figure 13] FIG. 10 is a side elevational schematic view of a passive receptacle misaligned relative to an end effector. [Figure 14] FIG. 10 is a side elevational schematic view of a passive receptacle rotationally offset relative to the end effector. [Figure 15] FIG. 1 is an orthographic view of one embodiment of an end effector having a post-type passive receptacle captured therewith, in accordance with the present disclosure; [Figure 16] FIG. 1 is a side elevation view of one embodiment of an end effector according to the present disclosure having an individual motor for each respective roller wheel of the end effector. [Figure 17] FIG. 1 is a perspective view of one embodiment of an end effector according to the present disclosure, having a single drive motor configured to drive three roller wheels of the end effector. [Figure 18] FIG. 10 is a top schematic view of a variation of an external drive gear 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 a roller wheel. [Figure 19] FIG. 10 is a top schematic view of a variation of an internal drive gear of an end effector of the present disclosure, having a central control gear and a plurality of radially spaced spur gears configured to drive a roller wheel. [Figure 20] FIG. 10 is a side elevation view of a portion of one embodiment of an end effector of the present disclosure, showing the implementation of bevel gears for driving roller wheels. [Figure 21] FIG. 10 is a side elevation view of a portion of one embodiment of an end effector of the present disclosure, showing the implementation of a worm gear for driving a roller wheel. [Figure 22] 1 illustrates a side elevation view of an embodiment of a passive receptacle being captured by an embodiment of an end effector in accordance with the present disclosure. [Figure 23] FIG. 1 is a side elevation view of one example of a UAV captured by an end effector of the present disclosure via a passive receptacle. [Figure 24] FIG. 10 is a perspective view of one embodiment of an end effector of the present disclosure configured to correct misalignment of a passive receptacle. [Figure 25] 25 illustrates the passive receptacle and end effector of FIG. 24, with the passive receptacle captured by the end effector. [Figure 26] FIG. 10 is a top schematic view of a modular central hub for an end effector of the present disclosure. [Figure 27] FIG. 1 is a top schematic view of a non-exclusive example embodiment of the present disclosure configured to be selectively adjusted for various ring receptacle sizes and / or roller wheel angles, shown in a first configuration. [Figure 28]FIG. 28 is a top schematic view of a non-exclusive example embodiment of the end effector of the present disclosure of FIG. 27 shown in a second configuration. [Figure 29] FIG. 1 is a top schematic view of one embodiment of an end effector of the present disclosure having two roller wheels and a backstop. [Figure 30] FIG. 1 is a side elevational schematic view of one embodiment of an end effector of the present disclosure having two roller wheels and a backstop. [Figure 31] FIG. 1 is a schematic flow chart diagram illustrating a method according to the present disclosure. [Figure 32] 1 is a side elevational schematic diagram of an example control device according to the present disclosure; [Figure 33] FIG. 1 is a side elevational schematic view of one embodiment of a control device according to the present disclosure shown with a wrist joint in a first orientation; [Figure 34] FIG. 34 is a side elevational schematic view of the control device of FIG. 33 shown with the wrist joint in a second orientation. [Figure 35] FIG. 1 is a side elevational schematic diagram of one embodiment of a control device having a four-bar linkage. [Figure 36] FIG. 1 is a schematic diagram of an operator positioning a control device relative to a target object. [Figure 37] 37 is a schematic diagram of the operator and controller of FIG. 36, with the controller positioned at a different angle than the position of FIG. 36. [Figure 38] 1 is an orthographic view of an exemplary, non-exclusive example of a housing and end effector of a control device of the present disclosure. FIG. [Figure 39] FIG. 39 is an exploded orthographic view of the housing and end effector of FIG. 38. [Figure 40] FIG. 1 is a perspective view of one embodiment of a passive receptacle for capturing a target object. [Figure 41] FIG. 2 is a schematic top view of one embodiment of a passive receptacle for capturing a target object. [Figure 42] FIG. 1 is a schematic diagram of an operator capturing an object using the disclosed control device. [Figure 43]FIG. 1 is a schematic diagram of the disclosed controller coupled to a static robotic arm and configured to capture a hovering target object. [Figure 44] FIG. 1 is a schematic diagram of the disclosed controller coupled to a mobile robot and configured to capture a hovering target object. [Figure 45] FIG. 1 is a schematic diagram of the disclosed controller coupled to a vessel-based system and configured to acquire a hovering target object. [Figure 46] FIG. 1 is a schematic diagram of an operator performing a pick and place operation using the disclosed controller. [Figure 47] FIG. 1 is a schematic diagram of the disclosed controller coupled to a static robotic arm and configured for pick-and-place operations of a target object. [Figure 48] FIG. 1 is a schematic diagram of the disclosed controller coupled to a mobile robot and configured for pick-and-place operations of a target object. [Figure 49] FIG. 1 is a schematic flow chart diagram illustrating a method according to the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0012] FIGS. 1-14 provide exemplary, non-exclusive examples of systems 12 and end effectors 10 according to the present disclosure. Elements that serve similar, or at least substantially similar, purposes are labeled with similar numbers in each of FIGS. 1-14, and these elements may not be described in detail herein when referring to each of FIGS. 1-14. Similarly, not all elements may be numbered in each of FIGS. 1-14, but their associated reference numbers may be used herein for consistency. Elements, components, and / or features described herein with reference to one or more of FIGS. 1-14 may be included in and / or utilized with any of FIGS. 1-14 without departing from the scope of the present disclosure. Additional schematic diagrams are presented later in FIGS. 18-19 and 26-30, which also follow the conventions described above. Generally, elements likely to be included in a given (i.e., specific) embodiment are indicated with solid lines, and elements that are optional for a given embodiment are indicated with dashed lines. However, elements shown in solid lines are not required for all embodiments, and elements shown in solid lines may be omitted from particular embodiments without departing from the scope of the present disclosure.

[0013] 1-2 schematically depict several embodiments of an end effector 10 of a system 12 of the present disclosure. FIG. 1 schematically depicts several non-exclusive embodiments of the end effector 10 as viewed from a top view, while FIG. 2 schematically depicts several non-exclusive embodiments of the end effector 10 as viewed from a side elevation view. The end effector 10 includes at least a first roller wheel 14 and a second roller wheel 16 and may include one or more additional roller wheels, such as a third roller wheel 18. The third roller wheel 18 is shown in FIG. 1 but not explicitly shown in FIG. 2. Some embodiments of the end effector 10 include a fourth roller wheel and / or further additional roller wheels.

[0014] One or more of the roller wheels (e.g., roller wheels 14, 16, 18) rotate in a different (e.g., non-parallel) respective plane and / or rotate about a different respective axis than one or more of the other roller wheels. In some embodiments, each roller wheel may rotate in a different respective plane and about a different respective axis than each of the other roller wheels in a given end effector 10. In some embodiments, two roller wheels may rotate in the same plane while two other roller wheels rotate in different planes. In other words, in embodiments of the end effector 10 having an even number of roller wheels (but more than three roller wheels), one or more pairs of roller wheels may share a plane of rotation. In some embodiments, the first roller wheel 14 is said to rotate in a first plane and the second roller wheel 16 is said to rotate in a second plane, where the first plane and the second plane are non-parallel to one another. In some embodiments of the end effector 10 that include a third roller wheel 18, the third roller wheel 18 may rotate in a third plane that is non-parallel to the plane of rotation of the first roller wheel 14 and / or the plane of rotation of the second roller wheel 16. Additionally or alternatively, one or more planes of rotation of the roller wheels 14, 16, 18 may be at least substantially perpendicular to the support base 38 that supports the roller wheels. Additionally or alternatively, one or more planes of rotation of the roller wheels 14, 16, 18 may be disposed at a non-perpendicular angle relative to the support base 38. The roller wheels 14, 16, 18 may be disposed such that the first plane, second plane, and / or third plane intersect one another.

[0015] In some embodiments, some or all of the respective roller wheels 14, 16, and / or 18 may rotate about different and / or non-parallel respective axes, which are depicted in FIG. 1 for illustrative purposes. In some embodiments, each respective roller wheel of the end effector 10 rotates about a different respective axis. In some embodiments, one or more roller wheels of the end effector 10 may rotate about an axis that is at least substantially parallel to that of one or more other roller wheels of the end effector 10. In some embodiments, at least one roller wheel of the end effector 10 rotates about an axis that is non-parallel to at least one other roller wheel of the end effector. As shown in FIG. 1, the first roller wheel 14 may rotate about a first axis 20, the second roller wheel 16 may rotate about a second axis 22, and the third roller wheel 18 may rotate about a third axis 24. As shown in FIG. 1 , each of the first axis 20, the second axis 22, and the third axis 24 are disposed at a non-parallel angle relative to one another. While in some embodiments, each of the first axis 20, the second axis 22, and the third axis 24 are disposed at a non-parallel angle relative to one another, in some embodiments of the end effector 10, one or more such axes may be at least substantially perpendicular to one another and / or disposed at different angles relative to one another. The end effector 10 may include additional roller wheels and / or roller wheels disposed at different spacings, orientations, and / or patterns, as described herein. While exemplary embodiments will be primarily described as having three roller wheels 14, 16, and 18, the end effector 10 according to the present disclosure is not limited thereto.

[0016] The end effector 10 is configured to selectively capture, engage, and / or release an object 26 via two or more roller wheels (e.g., roller wheels 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 a full 360-degree range of azimuth. This allows the disclosed end effector 10 to tolerate misalignment in any direction, which was not possible with prior art systems. The roller wheels 14, 16, and 18 can be oriented and positioned relative to one another to enable the disclosed end effector 10 to have this capability. For example, in an end effector 10 having three roller wheels 14, 16, and 18, the roller wheels can be positioned and oriented such that each respective rotor wheel rotates about a different, respective, non-parallel axis. This arrangement may enable the end effector 10 to capture an approaching object 26 from a full 360 degree range of azimuth angles, although other arrangements disclosed herein may have this capability as well.

[0017] The roller wheels 14, 16, 18 can be rotated in opposite directions to capture and release the object 26. For example, the roller wheels 14, 16, 18 of the end effector 10 can be rotated in a first respective direction when capturing or engaging the object 26, and then reversed to rotate in the opposite direction to selectively release the object 26. In other words, each roller wheel 14, 16, 18 can be configured to be selectively reversed between two opposite directions of rotation. In some embodiments, the direction of rotation of the roller wheels 14, 16, 18 can be referred to as "inward" in one configuration (e.g., the roller wheels 14, 16, 18 can be rotated toward the interior space 50 between the roller wheels) and "outward" when the roller wheels are rotated in the opposite direction. One or more of the roller wheels 14, 16, 18 may be rotated in a different direction than one or more of the other roller wheels 14, 16, 18 during capturing, engaging, and / or releasing the object 26. Additionally or alternatively, the rotational speed of one or more of the roller wheels 14, 16, 18 may be selectively increased or decreased during capturing or releasing the object 26.

[0018] The object 26 may float, hover, be positioned, and / or fly above, to the side, below, and / or near the end effector 10 for various applications to capture and / or engage the object 26. The end effector 10 may additionally or alternatively be configured to capture or engage the static object 26 while the end effector 10 is moving toward the static object 26. The end effector 10 is designed to capture and / or engage the object 26 even when the object 26 is offset from the end effector 10 along one or more positions 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 disposed 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, as the object 26 approaches the end effector 10 (or vice versa), the object 26 may be configured such that the passive receptacle 44 reaches the end effector 10 first (rather than contacting a different portion of the object 26) to facilitate engagement between the end effector 10 and the passive receptacle 44.

[0019] 2 shows object 26 in the form of a UAV hovering above end effector 10, system 12 is not limited thereto. For example, object 26 may be a hovering or other type of aircraft (e.g., a UAV or drone, or a manned aircraft), a package, cargo, a cable end, and / or an emergency device configured to carry and / or lift a human or animal. In some examples, end effector 10 may be engaged with object 26 in adverse and / or unpredictable conditions, such as a situation where an aircraft is refueling in flight. In some examples including a UAV or other aircraft as object 26, the aircraft may be a fixed-wing aircraft, a quadcopter, a helicopter, a multirotor, a rotary-wing aircraft, a military aircraft, a vertical take-off and landing (VTOL) aircraft, a short take-off and landing (STOVL) aircraft, a low-observable UAV, and / or an aircraft without landing gear. Other types of objects 26 may be fitted with passive receptacles 44 that engage the end effectors 10 disclosed herein for use with the disclosed system 12 .

[0020] The system 12 and end effector 10 of the present disclosure can be used to capture and / or release air vehicles and / or lift and / or load packages or cargo, and can be used in civilian, military, and / or personal applications. The system 12 and end effector 10 can address shortcomings of conventional solutions because the end effector 10 and system 12 of the present disclosure can be configured to capture and / or engage objects in adverse and / or unpredictable conditions and / or in cases with positional and / or rotational misalignment 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 manufacturing (e.g., robotic material handling), aerial refueling systems, and agricultural applications (e.g., picking fruit and other produce). The disclosed system 12 and end effector 10 may result in cost savings and / or cost avoidance compared to conventional solutions, such as avoidance or reduction of injuries and / or hardware wear. In some embodiments, the end effector 10 and system 12 may improve safety for the operator and the object 26 being captured or engaged compared to conventional solutions. The disclosed system 12 and end effector 10 also advantageously have the ability to operate spatially in three dimensions, with multi-axis capturing capabilities. The system 12 and end effector 10 are also configured to be scalable to accommodate larger or smaller objects 26 being captured, engaged, and / or fired. Furthermore, the system 12 and end effector 10 may be selectively reconfigurable to have a different number of roller wheels and / or different arrangements and positioning of the roller wheels 14, 16, 18.

[0021] The system 12 may include a drive system 28 ( FIG. 2 ) configured to control the rotation of the first roller wheel 14, the second roller wheel 16, and / or the third roller wheel 18. 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. While 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, gas-pressure power sources, hydraulic motors or other hydraulic power sources, spring-powered sources (e.g., wind-up rotary power sources), manual power sources (e.g., hand cranks), and / or air-powered sources (e.g., rotary vane air devices). In some embodiments, the drive system 28 includes a single motor 30 that drives the first roller wheel 14, the second roller wheel 16, and the third roller wheel 18. In some embodiments, the drive system 28 includes a respective motor 30 for each respective roller wheel. As will be described in more detail herein, the drive gear 32 of the drive system 28 may include a central control gear or external control gear ring and a plurality of radially spaced spur gears. The central control gear or external control gear ring is configured to rotate a plurality of radially spaced spur gears, each configured to drive a respective drive shaft 34 and thereby drive a respective roller wheel 14, 16, 18. In some embodiments, the drive gear 32 includes a set of planetary gears and an internal gear. The drive system 28 may also or alternatively include limit switches configured to stop the first roller wheel 14, the second roller wheel 16, and / or the third roller wheel 18 after the object 26 is captured by the end effector 10. The end effector 10 may be configured for manual and / or automated operation (e.g., manual or automated capturing, engaging, and / or releasing of the object 26).

[0022] With continued reference to FIGS. 1-2 , the end effector 10 may be coupled, mounted, and / or supported by a support structure 36, such as an arm, pole, handle, and / or platform (stationary or moving). For example, the support structure 36 in FIG. 2 is shown in the form of a robotic arm 40. The robotic arm 40 may be coupled to the drive system 28 via an adjustable joint angle 42. While the robotic arm 40 is illustrated as a static robotic arm 40, in other embodiments of the system 12, the robotic arm 40 may be the arm of a mobile robot. In other embodiments of the system 12, the end effector 10 may be coupled to other types of support structures 36 via an adjustable joint angle 42. For example, in some systems 12, the end effector 10 may be coupled to a handle for grasping or manual manipulation. In other embodiments, the end effector 10 may be supported by an arm support structure 36. The arm support structure 36 is attached to a ship-based mounting platform or other moving vehicle. In these and other configurations for supporting the end effector 10, the support structure 36 may be used to assist in positioning the end effector 10 to engage or capture the object 26 by positioning and / or moving the end effector 10 to engage, capture, and / or release the object 26.

[0023] As used herein, "end effector" is not limited to end effectors for robots and robotic arms, but may be implemented with many different types of systems. For example, end effector 10 may be configured to be implemented using a robotic device, a transport device, a static robotic arm, a land-based system, a mobile robot, and / or a ship-based system. To that end, support structure 36 may include a ship or other marine vessel (including an underwater vessel), an aircraft, a spacecraft, a static robot, a mobile robot, a transport device, a robotic device, a gripping device, and / or a terrestrial surface or structure. Additionally or alternatively, end effector 10 may include a support element 56, such as a support base 38, which supports roller wheels 14, 16, 18, drive system 28, one or more stop structures 54, and / or one or more backstops 57.

[0024] The end effector 10 is configured to engage a passive receptacle 44 on the object 26 to capture, mate with, and / or release the object 26. The passive receptacle 44 can take many different forms in various embodiments of the system 12. For example, the passive receptacle 44 can be a ring-type receptacle, a post-type receptacle, or any other shape suitable for a given embodiment of the end effector 10. The ring-type receptacle has an annular feature configured to engage with the end effector 10. The post-type receptacle has an elongated post-like shape configured to engage with the end effector 10. The end effector 10 can be positioned to interact with or capture a ring or post or other type of passive receptacle of a particular size. For example, the end effector 10 can be configured to have an outer periphery 52 sized to engage the inner diameter of the ring of the passive receptacle 44. In some embodiments, the end effector 10 can have a press fit or interference fit with the ring of the passive receptacle 44 when the ring is positioned around the centerline of the roller wheels 14, 16, 18. Similarly, the end effector 10 can be configured to be spaced relative to one another such that the roller wheels 14, 16, 18 have an interference fit or press fit with the post or enlarged nub of the passive receptacle 44 when the post is captured within the interior space 50 between the roller wheels 14, 16, 18 and the enlarged nub of the post extends beyond the centerline of the roller wheels. When the passive receptacle 44 interacts with the roller wheels 14, 16, 18, the roller wheels are rotated in a direction that pulls the passive receptacle 44 onto or into the end effector 10 (e.g., by pulling the ring of the passive receptacle 44 around the outer periphery 52 of the roller wheels 14, 16, 18, or by pulling the post of the passive receptacle 44 into the interior space 50 between the roller wheels 14, 16, 18).

[0025] Referring to FIG. 2 , the end effector 10 can be configured to automatically lock the passive receptacle 44 in place (thereby capturing the object 26) when the passive receptacle 44 is grasped and pulled vertically (e.g., toward the support base 38) past the first centerline 46 of the first roller wheel 14, the second centerline 48 of the second roller wheel 16, and / or the third centerline of the third roller wheel 18. The centerlines 46, 48 generally correspond to the position of maximum gripping force between the roller wheels 14, 16 and the passive receptacle 44. In some embodiments, the roller wheels 14, 16, 18 are substantially vertically aligned with one another and are substantially equal in diameter. As a result, the respective centerlines 46, 48 can be substantially coplanar. In some embodiments, the end effector 10 is configured to grasp the passive receptacle 44. The passive receptacle 44 is thereby positioned within and between the first roller wheel 14 and the second roller wheel 16, thereby allowing the end effector 10 to capture the object 26. For example, a post-type passive receptacle 44 may be gripped between the roller wheels 14, 16, 18 in an interior area generally designated 50. In some embodiments, the end effector 10 is configured to grip the passive receptacle 44 such that the passive receptacle 44 is positioned on the exterior of an outer periphery 52 ( FIG. 1 ) when the object 26 is captured. The outer periphery 52 is defined by the roller wheels and / or backstop 57 and the end effector 10. For example, in an end effector 10 having three roller wheels, the outer periphery 52 may be defined by the first roller wheel 14, the second roller wheel 16, and the third roller wheel 18. In an end effector 10 having two roller wheels and a backstop, the perimeter 52 may be defined by the first roller wheel 14, the second roller wheel 16, and the backstop 57. In other embodiments of the end effector 10, there may be additional roller wheels that further define the perimeter 52.

[0026] 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 movement of the passive receptacle 44 relative to the roller wheels 14, 16, 18 by substantially physically preventing further vertical movement of the passive receptacle 44 when the passive receptacle 44 encounters or contacts the stop structure 54. The stop structures 54 may be coupled to one or more of the roller wheels 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 disposed adjacent each respective roller wheel 14, 16, 18. Thereby, when the passive receptacle 44 is sufficiently attracted onto the end effector 10, a portion of the passive receptacle 44 contacts the stop structure 54. In some embodiments, the stop structure 54 may be configured to prevent the passive receptacle 44 from being attracted completely down from the roller wheel 14, 16, 18, thereby causing the passive receptacle 44 to maintain at least minimal contact with the roller wheel 14, 16, 18 when the passive receptacle 44 is grasped by the end effector 10 and in a locked configuration. In some embodiments, the stop structure 54 may be sized and positioned to ensure that the object 26 is held away from the roller wheel 14, 16, 18 when the passive receptacle 44 is grasped by the roller wheel 14, 16, 18. Additionally or alternatively, the stop structure 54 may be coupled to or form a part of the passive receptacle 44 of the object 26. For example, the passive receptacle 44 may include a ring mounting structure, a base plate, or other structure that acts as the stop structure 54 by limiting the vertical movement of the passive receptacle 44 relative to the end effector 10. For example, the ring mounting structure, base plate, or other structure of the passive receptacle 44 may be configured to contact the top surface 128 of the roller wheel 14, 16, 18.The upper surface 128 may prevent the roller wheels 14, 16, 18 from drawing the passive receptacle 44 further downward toward the support base 38. In some embodiments, the stop structure 54 may be compliant, including a flexible material and / or a spring-loaded element to provide a small amount of force toward the roller wheels 14, 16, 18 to help the passive receptacle 44 re-engage with the roller wheels 14, 16, 18 for firing.

[0027] Some embodiments of the end effector 10 include a backstop 57. The backstop 57 may be positioned to engage the object 26 when the object 26 is captured by the first roller wheel 14 and the second roller wheel 16. In other words, the backstop 57 may replace the third roller wheel 18 or may simply be a non-rotating structure located within the end effector 10 that aids in capturing the passive receptacle 44 in various embodiments of the system 12.

[0028] The roller wheels 14, 16, 18 may be any suitable roller wheels, including airless tires, gas-pressure tires, rubber wheels, belts, and / or solid wheels, in various embodiments of the end effector 10. The roller wheels 14, 16, 18 may be rigid, compliant, and / or compressible in various embodiments of the end effector 10. In some embodiments, all of the roller wheels on a given end effector 10 may be the same type, material, size, and density, while in other embodiments, one or more of the roller wheels 14, 16, 18 may be different from one or more of the other roller wheels 14, 16, 18. In some embodiments, the end effector 10 is configured so that each roller wheel 14, 16, 18 can be selectively removed from the end effector 10 and replaced with a replacement roller wheel or a roller wheel of a different type. In this manner, the roller wheels 14, 16, 18 may be selectively replaceable when worn or damaged and / or different roller wheels may be interchangeable for use with different objects 26 to be captured, engaged, and / or released. Additionally or alternatively, the end effector 10 may be modular, whereby the end effector 10 is selectively reconfigurable with different numbers of roller wheels 14, 16, 18, multiple drive shaft mounts, and / or structural attachment points.

[0029] In some embodiments, the first roller wheel 14, the second roller wheel 16, and / or the third roller wheel 18 have one or more compliant regions. Additionally or alternatively, the durometer of one or more of the roller wheels 14, 16, 18 may be selected based on the type of passive receptacle 44 of the object 26 to be captured. For example, the roller wheels 14, 16, 18 may be selected to be stiffer for applications involving heavier captures (e.g., heavier passive receptacles 44 and / or objects 26). In some embodiments, one or more of the roller wheels 14, 16, 18 may be gas-pressured with selectively adjustable tire pressures that can be increased or decreased as needed for different applications. One or more of the roller wheels 14, 16, 18 may be compressible and / or compliant in some embodiments. Additionally or alternatively, one or more of the roller wheels 14, 16, 18 may be airless. These adjustments may be selected based on the weight, mass, and / or materials used in the object being captured.

[0030] In some embodiments, one or more of the roller wheels 14, 16, 18 may include a central groove 58 formed in the outer circumferential surface 60 of the roller wheel 14, 16, 18. The central groove 58 may be configured to improve alignment of the object 26 when the object 26 is captured or engaged. Additionally or alternatively, the outer circumferential surface 60 of one or more of the roller wheels 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 tread patterns.

[0031] 3-6 schematically illustrate the capture and release of an object 26, such as a hovering aircraft, via a passive receptacle 44 in the form of a ring receptacle 64. While the captured object is not shown in FIGS. 3-6 , it should be understood that the passive receptacle 44 is associated with (e.g., coupled to, integrally formed with, etc.) the object. The object is thereby effectively captured by the end effector 10 when the ring receptacle 64 is gripped by the roller wheels 14, 16, 18 (for clarity, only the roller wheels 14, 16 are visible in FIGS. 3-6 ). The passive receptacle 44 may be said to be “grasped” by the roller wheels 14, 16, 18 when the passive receptacle 44 is gripped around the outside of or between the roller wheels. Again, for clarity, two roller wheels 14, 16 are shown in Figures 3-6, however, the end effector 10 may include a third roller wheel 18 (Figure 1) and / or additional roller wheels. One or more roller wheels of the end effector 10 lie in non-parallel planes relative to one another. Furthermore, although the simplified schematic nature of Figures 3-6 makes the roller wheels 14, 16 appear to rotate in the same plane as one another, it should be understood that the roller wheels 14, 16 may be configured to rotate non-parallel to one another in various embodiments of the end effector 10.

[0032] In one embodiment of Figures 3-6, as shown in Figure 3, an object approaches the end effector 10 with the passive receptacle 44 facing the roller wheels 14, 16, and the passive receptacle 44 moves toward the end effector 10 generally in the direction indicated by arrow 66. The first roller wheel 14 is rotated in a first direction (indicated by arrow 68) and the second roller wheel 16 is rotated in a second direction (indicated by arrow 70) to capture the object therebetween. As shown in Figure 4, when the passive receptacle 44 contacts the roller wheels 14, 16, the roller wheels begin to pull on the passive receptacle 44, thereby further pulling the passive receptacle 44 in the direction indicated by arrow 66. As shown, the passive receptacle 44 engages the outer edge of the roller wheels 14, 16 (e.g., about the outer periphery 52 of the roller wheels 14, 16, 18, see FIG. 1) when grasped by the end effector 10. The passive receptacle 44 is effectively locked onto the roller wheels 14, 16 when the passive receptacle 44 is drawn past the centerlines 46, 48 (FIG. 5) of the roller wheels 14, 16. Again, a third roller wheel is not visible in the schematic views of FIGS. 3-6, but it should be understood that the passive receptacle 44 may be effectively locked onto one or more additional roller wheels beyond the roller wheels 14, 16 shown, such as being locked onto the three roller wheels 14, 16, 18 (FIG. 1).

[0033] The stop structure 54 may act as a stop to prevent the ring receptacle 64 from being pulled further downward, ensuring that the passive receptacle 44 remains in contact with the roller wheels 14, 16 and / or any additional roller wheels of the end effector 10. In some embodiments, the stop structure 54 may be compliant, thereby providing a cushion for the passive receptacle 44 when it is pressed against the stop structure 54 during object capture. At this point, one or more motors of the drive system 28 may be turned off (or may be automatically turned off via limit switches) as desired, although in some embodiments, the one or more motors may continue to operate in the retraction / capturing direction without stopping the drive system 28. This is because the end effector 10 can be configured to apply only a small amount of retraction force to the passive receptacle 44 when the passive receptacle 44 is in a locked position (e.g., contacting the stop structure 54 and / or being attracted beyond the centerline 46, 48 of the roller wheel 14, 16). In other words, in some embodiments, the roller wheel does not need to be stopped once the object 26 is captured because the end effector 10 and system 12 can be configured to allow continued rotation of the roller wheel after capture without damaging the object 26 or the passive receptacle 44.

[0034] While FIGS. 3-5 may be said to depict the end effector 10 in a capture configuration, FIG. 6 depicts the end effector 10 in a release or firing configuration. The roller wheels of the end effector 10 may be driven to rotate inward in one configuration and outward in the other configuration. For example, as shown in FIG. 6 , to selectively release an object from the end effector 10, the drive system 28 reverses the direction of rotation of the roller wheels 14, 16 (and any additional roller wheels of the end effector 10). That is, the first roller wheel 14 is reversed in FIG. 6 . The first roller wheel 14 thereby rotates in the opposite direction from during the capture sequence, as indicated by arrow 72, of FIGS. 3-5. The second roller wheel 16 is also reversed to rotate in the opposite direction from during the capture sequence, as indicated by arrow 74. As a result, the roller wheels 14, 16 grip the edge of the passive receptacle 44 and push it away from the stop structure 54. The passive receptacle 44 is thereby lifted from 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 roller wheels 14, 16 (e.g., propelled from the top of the roller wheels 14, 16 and any other roller wheels of the end effector 10) until it is completely free from the roller wheels 14, 16. Release of the object from the end effector 10 is thereby achieved.

[0035] Because the system 12 and end effector 10 are configured to hold the object 26 in a captured or locked configuration via the passive receptacle 44 until the direction of rotation of the roller wheels is reversed for launch / release, this may allow the UAV motors of the object 26 to begin preparations for takeoff, as the end effector 10 may be configured to prevent release of the object 26 until the roller wheels (e.g., roller wheels 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 moving the passive receptacle 44 in a substantially vertical direction, other embodiments of the system 12 and end effector 10 may be configured to capture and release an object 26 that is moved toward the end effector 10 horizontally or in other orientations relative to the end effector 10. Similarly, the end effector 10 may be supported and positioned to release or launch the object 26 horizontally or at other angles / orientations in various embodiments.

[0036] Advantageously, the system 12 is configured to tolerate misalignment and angular 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 an 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 where the object 26 and / or the end effector 10 may move unpredictably, the end effector 10 of the present disclosure may be configured to capture or engage the object despite these difficulties. This is due to the system's tolerance for misalignment and rotational misalignment provided by the orientation and placement of the roller wheels relative to one another. The end effector 10 may be configured to handle objects approaching from any angle. This allows for a full 360-degree range of azimuth, thus tolerating misalignment in any direction. Prior art systems can tolerate deviations in a single direction, but they cannot capture objects from a full 360 degree range of heading angles.

[0037] For purposes of illustration, FIGS. 3-4 schematically illustrate a substantially ideal alignment between the passive receptacle 44 and the roller wheels 14, 16 as the passive receptacle 44 approaches the end effector 10, whereby the passive receptacle 44 is centered on the roller wheels 14, 16. Meanwhile, FIG. 7 illustrates an embodiment in which the passive receptacle 44 is misaligned with the roller wheels 14, 16, such that the passive receptacle 44 is off-center on the roller wheels 14, 16 when the passive receptacle 44 contacts the roller wheels 14, 16. Nevertheless, the end effector 10 is still configured to capture an object via the passive receptacle 44 even when the passive receptacle 44 is off-center. 8 shows an embodiment in which the passive receptacle 44 is rotationally offset from the roller wheels 14, 16. In this case, the passive receptacle 44 is not parallel to the tops of the roller wheels 14, 16, but when the passive receptacle 44 first contacts the end effector 10, the passive receptacle 44 contacts the second roller wheel 16 but not the first roller wheel 14. Nevertheless, the end effector 10 is still configured to capture an object via the passive receptacle 44 even when the passive receptacle 44 is rotationally offset. This is because the second roller wheel 16 serves to attract the passive receptacle 44 into contact with the first roller wheel 14 as well. The end effector 10 can be configured to capture an object 26 while experiencing both positional (FIG. 7) and rotational (FIG. 8) misalignment due to the placement and orientation of the roller wheels.

[0038] FIG. 9 illustrates a variation of the passive receptacle 44 that includes a tapered edge guide 78. The tapered edge guide 78 may also be referred to as a peripheral skirt 78 of the passive receptacle 44. As shown in FIG. 9, the tapered edge guide 78 may facilitate or aid in correcting the alignment of the passive receptacle 44 with respect to the roller wheels (roller wheels 14 and 16 are shown in FIG. 9, but the end effector 10 may include one or more additional roller wheels, such as roller wheel 18), when the tapered edge guide 78 contacts one or more of the roller wheels. Thus, the tapered edge guide 78 may be configured to facilitate capture of an object by the end effector 10 even when only one roller wheel contacts the passive receptacle 44 (e.g., only roller wheel 14 or only roller wheel 16).

[0039] 10-12 illustrate another embodiment of the system 12, in which the end effector 10 is configured to capture an object 26 via a passive receptacle 44 in the form of a post-type receptacle 80. The post-type receptacle 80 may include a base plate 82 from which an elongated post or peg 84 extends from a proximal end region 88 to a distal end region 90. The post 84 is coupled to (or integrally formed with) the base plate 82 at or within the proximal end region 88 of the post 84. The post 84 includes an enlarged nub 86 at or within the distal end region of the post 84. As with FIGS. 3-6, the object being captured is not shown in FIGS. 10-12 (for clarity), but it should be understood that the passive receptacle 44 is associated with (e.g., coupled to, integrally formed with, etc.) the object. An object is thereby effectively captured by the end effector 10 when the post-shaped receptacle 80 is grasped by a roller wheel (e.g., roller wheel 14, 16, 18). Similarly, although only two roller wheels 14, 16 are visible in FIGS. 10-12 for clarity, such an end effector 10 may include one or more additional roller wheels (e.g., roller wheels 14, 16, 18), one or more of which rotate in a different plane than one or more of the other roller wheels.

[0040] While in the embodiment of Figures 3-6, the ring receptacle 64 is gripped by the outer edge of the roller wheel, the post-type receptacle 80 of Figures 10-12 is gripped by the inner edge of the roller wheel. In other words, the post-type receptacle 80 is disposed between roller wheels, such as within the interior space 50 between roller wheels 14, 16, 18 (Figure 1), when the post-type receptacle 80 is gripped by the end effector 10. Specifically, as shown in Figure 10, an object having the post-type receptacle 80 approaches the end effector 10, causing the enlarged nub 86 to contact one or more of the roller wheels 14, 16 (and / or roller wheel 18, not visible in Figures 10-12). During capture of an object, the first roller wheel 14 is rotated in a first direction (indicated by arrow 68) and the second roller wheel 16 is rotated in a second direction (indicated by arrow 70). The rotation of the roller wheels 14, 16 attracts the post-shaped receptacle 80 toward the support base 38, causing the post-shaped receptacle 80 to continue moving in the direction indicated by arrow 66. It should be understood that any additional roller wheels of the end effector 10 may be rotated accordingly, in coordination and cooperation with the roller wheels 14, 16, to engage and pull the post-shaped receptacle 80 between the roller wheels to capture the object.

[0041] As shown in FIG. 11 , when an object is captured by the end effector 10, the enlarged nub 86 can be attracted across the centerline of the roller wheel, thereby allowing the post 84 to be positioned internally between the roller wheels. For example, FIG. 11 shows the enlarged nub 86 attracted across the centerlines 46, 48 of the roller wheels 14, 16. While the post 84 is positioned internally between the roller wheels 14, 16, it should be understood that the enlarged nub 86 can also be attracted across the centerlines of each of the other roller wheels that may be included in the end effector 10. The post 84 can be similarly positioned internally between all of the roller wheels. The centerlines of the roller wheels (e.g., 46, 48) can effectively act as pinch points for the enlarged nub 86, as the enlarged nub 86 can be pulled into the end effector 10 or projected away from the end effector 10 after being captured. In some embodiments, the base plate 82 of the post-type receptacle 80 may act as the stop structure 54 because the base plate 82 may engage or contact the upper surfaces 128 of the roller wheels 14, 16 when the post-type receptacle 80 is grasped by the end effector 10, thereby preventing further movement of the post-type receptacle 80 toward the support base 38 of the end effector 10. As shown in FIG. 12 , the direction of rotation of the roller wheels 14, 16 (and any additional roller wheels) is selectively reversed to selectively release the object. Thus, the first roller wheel 14 is rotated in the opposite direction from which it was rotated during the capture sequence, as indicated by arrow 72. The second roller wheel 16 is rotated in the opposite direction from which it was rotated during the capture sequence, as indicated by arrow 74. As a result, the roller wheel pushes the post 84 away from the support base 38 in the direction indicated by the arrow 76, which pushes the enlarged nub 86 past the centerline of the roller wheel (e.g., past the centerlines 46, 48 of the roller wheels 14, 16, which are labeled in FIG. 11).In this manner, the post-shaped receptacle 80 (and the object associated therewith) is released from the end effector 10.

[0042] Again, the system 12 is configured to tolerate misalignment and rotational misalignment between the passive receptacle 44 and the end effector 10. These misalignments are illustrated in FIGS. 13-14 using one embodiment of a post-type receptacle 80. While FIGS. 10-11 illustrate substantially ideal alignment between the passive receptacle 44 and the roller wheels 14, 16, with the passive receptacle 44 approaching the end effector 10 so that the passive receptacle 44 is centered on the roller wheels 14, 16, FIGS. 13-14 illustrate several examples of misalignment between the post-type receptacle 80 and the roller wheels 14, 16. In FIG. 13, the post-type receptacle 80 is misaligned from the roller wheels 14, 16. In this case, the passive receptacle 44 is off-center in the space between the roller wheels 14, 16 to the extent that the enlarged nub 86 contacts the second roller wheel 16 but not the first roller wheel 14. Nevertheless, the end effector 10 is still configured to capture the post-type receptacle 80 even when the passive receptacle 44 is off-center because the rotation of the roller wheels 14, 16 acts to draw the enlarged nub 86 and post 84 between the roller wheels of the end effector 10 (e.g., toward and into the interior space 50) due to the rotation of the roller wheels 14, 16 and the resulting force applied to the enlarged nub 86 and post 84.

[0043] Similarly, FIG. 14 shows an example in which the post-type receptacle 80 is rotationally offset from the roller wheels 14, 16. In this case, the base plate 82 is not parallel to the top surfaces 128 of the roller wheels 14, 16, but is angled such that one end of the base plate 82 is closer to one of the roller wheels 14, 16 (than the other of the roller wheels is to the other end of the base plate 82) (e.g., in the illustrated embodiment, the base plate 82 is angled so that it is closer to roller wheel 14 than to roller wheel 16). Nevertheless, the end effector 10 is still configured to capture an object via the post-type receptacle 80 even when the passive receptacle 44 is rotationally offset, because the second roller wheel 16 serves to pull the enlarged nub 86 and post 84 toward the support base 38, leveling the base plate 82 of the post-type receptacle 80 in the process. The end effector 10 can thus be configured to capture an object 26 while experiencing both positional (FIG. 13) and rotational (FIG. 14) misalignment due to the placement and orientation of the roller wheels as described herein.

[0044] 15-17 and 20-25, exemplary, non-exclusive embodiments of system 12 and end effector 10 and / or components thereof are presented. Where appropriate, reference numerals from the schematic diagrams of FIGS. 1-14 (or 18-19 and 26-30) are used to designate corresponding parts in FIGS. 15-17 and 20-25, but the embodiments of FIGS. 15-17 and 20-25 are non-exclusive and do not limit system 12 or end effector 10 to the illustrated embodiments of FIGS. 15-17 and 20-25. That is, the end effector 10 and system 12 are not limited to the particular embodiments shown in FIGS. 15-17 and 20-25, but may incorporate any number of the various aspects, configurations, features, characteristics, etc. shown and described with reference to the schematic illustrations of FIGS. 1-14, 18-19, or 26-30, and / or the embodiments of FIGS. 15-17 and 20-25, and variations thereof, without necessarily being inclusive of all such aspects, configurations, features, characteristics, etc. For simplicity, each aforementioned component, part, portion, aspect, region, etc., or variations thereof may not be described, illustrated, and / or re-labeled with respect to each of FIGS. 15-17 and 20-25, but it is within the scope of this disclosure that the aforementioned features, variations, etc. may be used with the end effector 10 and system 12.

[0045] FIG. 15 is a perspective view of one embodiment of an end effector 10 having three roller wheels 14, 16, and 18. As shown, in this embodiment, the roller wheels 14, 16, and 18 are all arranged to rotate in different planes. The different planes are non-parallel and non-perpendicular to one another. The first roller wheel 14 rotates about a first axis 20, the second roller wheel 16 rotates about a second axis 22, and the third roller wheel 18 rotates about a third axis 24. Each of the first axis 20, second axis 22, and third axis 24 are non-parallel and non-perpendicular to one another. In this embodiment, passive receptacles 44 in the form of post-type receptacles 80 are shown within interior spaces 50 between the roller wheels 14, 16, and 18, captured or gripped (although object 26 is not explicitly shown in FIG. 15 ). 15 , one or more of the roller wheels 14, 16, 18 may have a central groove 58 formed in the outer circumferential surface 60 of each roller wheel 14, 16, 18. When the post-shaped receptacle 80 is captured by the end effector 10, the enlarged nub 86 may be at least partially disposed within the central groove 58 of the roller wheel 14, 16, 18. In other words, the central groove 58 may be sized and shaped to facilitate engagement with the enlarged nub 86 and / or post 84 of the post-shaped receptacle 80.

[0046] The system 12 generally includes a drive system 28 for powering the roller wheels 14, 16, 18 of the end effector 10. Figure 16 shows one embodiment of the drive system 28 including a respective motor 30 for each respective roller wheel 14, 16, 18. A respective drive gear 32 operatively coupled with each respective motor 30 transfers rotational energy from each respective motor 30 to the respective roller wheel 14, 16, 18. The drive system 28 may include one or more additional respective gears 92 operatively coupled with each respective drive gear 32, as desired for the particular layout of the end effector 10.

[0047] While the embodiment of FIG. 16 includes a respective drive motor 30 for each respective roller wheel 14, 16, 18, the drive system 28 in the embodiment of FIG. 17 includes only a single motor 30 that drives all of the roller wheels 14, 16, 18. In other embodiments, each motor 30 may be configured to drive a subset of the roller wheels in a given end effector 10, while other roller wheels may be driven by one or more other respective motors 30. In the embodiment of FIG. 17, a support base 38 supports an outer control gear ring 94 (which may also be referred to as annulus gear 94) disposed within or adjacent the outer periphery 52 of the support base 38 and a plurality of radially spaced spur gears 96. A single motor 30 (not shown in FIG. 17 for clarity) may be configured to drive the outer control gear ring 94. The outer control gear ring 94, in turn, is configured to rotate the plurality of spur gears 96 (e.g., the outer control gear ring 94 engages with the spur gears 96 or 噛 17, there may be a respective spur gear 96 for each respective roller wheel 14, 16, 18. Each respective spur gear 96 may be operatively coupled (e.g., via a worm screw and worm gear or via a bevel gear) to a respective drive shaft 34 of a respective roller wheel 14, 16, 18 to drive the respective roller wheel. Rotation of each respective spur gear 96 thereby results in rotation of the respective drive shaft 34. Each respective spur gear 96 is coupled to (e.g., disposed on) a respective drive shaft 34. In this manner, rotation of the outer control gear ring 94 by a single motor 30 causes rotation of all of the roller wheels 14, 16, 18.

[0048] 17 , the support element 56 includes a housing 98 that positions and angles the roller wheels 14, 16, 18 relative to one another. The housing 98 also supports the stop structure 54 in this embodiment. This embodiment of the end effector 10 includes a respective stop structure 54 for each respective roller wheel 14, 16, 18. The housing 98 may be coupled to or engaged with the support base 38. Additionally or alternatively, the housing 98 may be coupled to or engaged with a support structure 36, such as a handle or robotic arm.

[0049] An embodiment of a drive system 28 similar to the embodiment shown in FIG. 17 is schematically represented in FIG. 18. FIG. 18 shows a top schematic view of an outer control gear ring 94 engaged with three spur gears 96. Each respective spur gear 96 is configured to drive a respective roller wheel via a respective drive shaft 34. For example, a respective worm screw and worm gear or bevel gear is used to transfer power from each respective spur gear 96 to a corresponding respective drive shaft 34. Other embodiments of a drive system 28 are schematically represented in FIG. 19. FIG. 19 shows a central control gear 100 engaged with a plurality of radially spaced gears 96. The central control gear 100 is configured to rotate the plurality of radially spaced spur gears 96. Again, each respective spur gear 96 may be configured to drive a respective roller wheel 14, 16, 18 via a respective drive shaft 34. The central control gear 100 may be centrally located between the plurality of radially spaced gears 96. Although the illustrated embodiments show spur gears 96, other embodiments of the end effector 10 may have different drive systems 28 that use different types of gear sets, such as a herringbone gear set, a helical gear set, or a double helical gear set.

[0050] Regardless of whether an external control gear ring 94 or a central control gear 100 (or an entirely different gear arrangement) is used, the end effector 10 may include additional gears configured to rotate the roller wheels 14, 16, and 18, transmitting energy from a motor and spur gear 96 to each roller wheel 14, 16, and 18 via a drive shaft 34. FIGS. 20-21 show two examples of such additional gears for implementing the end effector 10 of the present disclosure, but the end effector 10 is not limited to these particular examples. While a single roller wheel 14 is shown in each of FIGS. 20-21 for simplicity, those skilled in the art will understand that the illustrated arrangements may be used for other roller wheels of the end effector 10 not shown in FIGS. 20-21. In the example of FIG. 20, 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 engages a second bevel gear 104. The second bevel gear 104 is coupled to an axle 106 of the roller wheel 14. Thus, rotation of the first bevel gear 102 results in a corresponding rotation of the second bevel gear 104, which in turn rotates the axle 106, thereby rotating the roller wheel 14 about the axis 20. Rotating the spur gear 96 in the opposite direction is therefore configured to rotate the roller wheel 14 in the opposite direction as well. 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 wheel of the end effector.

[0051] In one embodiment of FIG. 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 disposed on or integrally formed with the drive shaft 34). The worm screw 108 is engaged with a worm gear 110. The worm gear 110 is disposed on or coupled to the axle 106. Thus, rotation of the worm screw 108 results in a corresponding rotation of the worm gear 110. The corresponding rotation of the worm gear 110 in turn rotates the axle 106, thereby rotating the roller wheel 14 about the axis 20. Rotating the spur gear 96 in the opposite direction is therefore configured to rotate the roller wheel 14 in the same opposite direction. A drive system 28 utilizing this arrangement may include a respective worm screw 108 and a respective worm gear 110 for each respective roller wheel of the end effector. Of course, other types of gears besides those shown in Figures 20-21 may also or alternatively be utilized in the end effector 10 of the present disclosure. For example, in addition to bevel 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.

[0052] As shown throughout the drawings, and particularly apparent in FIGS. 20-21 , 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 / fired. For example, the gears and motor can be positioned below, to the side of, or out of the way of, the perimeter 52 ( FIG. 1 ) defined by the roller wheels 14, 16, 18. Additionally or alternatively, the housing 98 and / or other components of the support element 56 and / or support base 38 can 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, as shown in FIGS. 20-21 , the spur gear 96 can be separated from the roller wheel 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 may be at least partially within, at least partially shielded by, or at least partially enclosed by the housing 98. In other words, the end effector 10 may be configured such that the roller wheels 14, 16, 18 are the only moving parts that the passive receptacle 44 and the object 26 may contact during object capture, because the gears and axles of the drive system 28 and the drive shaft may be substantially shielded by the housing 98 and other support elements 56.

[0053] FIG. 22 shows one embodiment of a passive receptacle 44 hovering just above the end effector 10 just prior to capture by engaging the ring with the roller wheel and drawing the passive receptacle onto the roller wheel of the end effector 10. In the embodiment of FIG. 22 , the passive receptacle 44 is shown as a ring receptacle 64. The ring receptacle 64 includes tapered edge guides 78 and a ring mounting structure 112. The ring mounting structure 112 can be sized and shaped to fit over and around the roller wheel 14, 16, 18 when an object is captured (e.g., when the passive receptacle 44 is gripped by the end effector 10). In other embodiments, the passive receptacle 44 can simply be a ring or can be a ring with a ring mounting structure 112 without a tapered edge guide 78. In some embodiments, the tapered edge guide 78 may be stepped rather than tapered. The ring attachment structure 112 may be larger or smaller or of a different design in various embodiments of the system 12. Similarly, the skirt or edge guide 78 may be larger or smaller in various embodiments of the passive receptacle 44. While the object 26 is not shown in FIG. 22 for clarity, it should be understood that the object 26 is coupled to or integrally formed with the passive receptacle 44, such as via the ring attachment structure 112.

[0054] As shown in FIG. 23 , the ring mounting structure 112 can be configured to support the object 26 above the end effector 10 when the object 26 is captured by the end effector 10 via the passive receptacle 44. For example, FIG. 23 shows the object 26 in the form of a UAV 130 coupled to the ring mounting structure 112 of the ring receptacle 64. As shown, the ring mounting structure 112 can be configured to couple the passive receptacle 44 to the object 26 and also prevent the object 26 from contacting the roller wheels 14, 16, 18 when the object 26 is captured by the end effector 10. For example, the ring mounting structure 112 can be sized and shaped to fit on top of or over the roller wheels of the end effector 10. Thereby, the ring mounting structure 112 itself need not contact the roller wheels in some embodiments, and the object 26 (e.g., the UAV 130) can be similarly held clear of the roller wheels. Thus, in some embodiments, the passive receptacle 44 may be configured such that the ring receptacle 64 contacts the roller wheel to capture the passive receptacle 44 (and thereby the object 26), while also isolating other components (e.g., the ring mounting structure 112 and the object 26) from the roller wheel. FIG. 23 shows the passive receptacle 44 mounted on the end effector 10 (e.g., the passive receptacle 44 is gripped or captured by the end effector 10). In this configuration, the ring receptacle 64 is pulled toward the support base 38 beyond the centerline of each roller wheel, thereby causing the ring of the ring receptacle 64 to rest on or be pressed against the stop structure 54. In this configuration, the ring of the ring receptacle 64 is disposed around the outer periphery 52 of the roller wheel of the end effector 10. FIG. 23 shows an embodiment of a ring receptacle 64 having a ring with a smaller profile than the embodiment of FIG.

[0055] 24-25 illustrate an embodiment for capturing a misaligned object 26 via a tapered edge guide 78 of a passive receptacle 44. In the embodiment of FIG. 24, the passive receptacle 44 approaches the end effector 10 but is offset from the roller wheels. Rather than being centered on all of the roller wheels of the end effector 10, the passive receptacle 44 is misaligned. Thereby, the tapered edge guide 78 contacts the roller wheels 14 only at the point of initial contact with the end effector 10. However, rotation of the roller wheels 14 urges the passive receptacle 44 into alignment via friction exerted by the roller wheels 14 on the tapered edge guide 78. Thus, as shown in FIG. 25, the end effector 10 can be configured to account for such misalignment and automatically urge the passive receptacle 44 into correct alignment, substantially centered on the roller wheels.

[0056] The end effector 10 may be modular, allowing the end effector 10 to be selectively configured differently for different tasks. For example, FIG. 26 shows one embodiment of a shaft plate or central hub 114. The shaft plate or central hub 114 may be one embodiment of the support base 38, may be incorporated into the support base 38, or may be coupled to the support base 38. The central hub 114 may include multiple drive shaft mounts 116. For example, the drive shaft mounts 116 may be holes formed through the central hub 114 or other forms of structural attachment points for the central hub 114 to receive various numbers of drive shafts 34 in various positions, as described herein. In some embodiments, the central hub 114 may include bearings (e.g., ball bearings or journal bearings) within the drive shaft mounts 116. The embodiment of the central hub 114 in FIG. 26 includes seven drive shaft mounts 116, individually labeled 116a, 116b, 116c, 116d, 116e, 116f, and 116g, for illustrative purposes. Other embodiments of the central hub 114 may include more or fewer drive shaft mounts 116 than shown in the embodiment and / or drive shaft mounts 116 in different positions or arrangements than shown in the embodiment. The arrangement of the drive shaft mounts 116 may be configured to facilitate reconfiguring the end effector 10 to have a different number of roller wheels. This may allow the disclosed end effector 10 to be configured differently for a variety of different tasks. Such a modular configuration may allow selectively adding or subtracting drive shafts 34 from the central hub 114 in a more efficient and simpler manner than creating a system with multiple different hubs or plates for different drive shaft 34 arrangements and different numbers of roller wheels. Of course, such a system having a number of different hubs or plates for various placements of the drive shaft 34 is also within the scope of this disclosure.

[0057] Such modular functionality may produce various numbers of drive shafts 34 for driving various numbers of roller wheels. For example, in an embodiment having two roller wheels, the drive shafts 34 may be attached to (and / or extend through) the central hub 114 via drive shaft mounts 116d and 116g or via drive shaft mounts 116b and 116e. Any combination thereof may allow for at least substantially equidistant spacing between the two drive shafts 34 disposed through their respective drive shaft mounts that are at least substantially 180 degrees apart (although such equidistant spacing is not a requirement for variations of the end effector 10 having two drive shafts 34). Similarly, in an embodiment having three roller wheels, the drive shafts 34 may be attached to (and / or extend through) the central hub 114 via drive shaft mounts 116a, 116c, and 116f. This may allow for at least substantially equidistant spacing between the three drive shafts 34 disposed through respective drive shaft mounts that are at least substantially 120 degrees apart (although such equidistant spacing is not a requirement for variations of the end effector 10 having three drive shafts 34). In one embodiment having four roller wheels, the drive shafts may be attached to (and / or extend through) the central hub 114 via drive shaft mounts 116b, 116d, 116e, and 116g. This may allow for substantially equidistant spacing between the four drive shafts disposed through respective drive shaft mounts that are at least substantially 90 degrees apart (although such equidistant spacing is not a requirement for variations of the end effector 10 having four drive shafts 34). Of course, other variations are within the scope of this disclosure. The spacing between each drive shaft 34 and the corresponding roller wheels may or may not be substantially equidistant.

[0058] In some embodiments, the end effector 10 may be configured such that the angle and / or diameter of the periphery 52 of the roller wheels 14, 16, 18 are selectively adjustable. For example, FIGS. 27-28 schematically depict top views of several non-exclusive embodiments of the end effector 10, which may be selectively adjusted in this manner. In FIG. 27, the roller wheels 14, 16, 18 are shown in a first configuration. In this first configuration, the first roller wheel 14 is aligned within or defines a first plane 118. The second roller wheel 16 is aligned within or defines a second plane 120. The third roller wheel 18 is aligned within or defines a third plane 122. In this embodiment, each of the first plane 118, the second plane 120, and the third plane 122 are oriented relative to one another such that they are each non-perpendicular and non-parallel to each of the other respective planes. The roller wheels 14, 16, and 18 define a perimeter 52 around which the ring receptacle 64 can be grasped by the end effector 10. In this embodiment, the first plane 118, the second plane 120, and the third plane 122 all intersect with one another at or near a geometric center 124 of the end effector 10.

[0059] In comparison to FIG. 27 , FIG. 28 shows the same end effector 10 in a second configuration, where each of the roller wheels 14, 16, 18 has been rotated clockwise by a relatively small amount relative to its respective drive shaft 34. As a result of the rotation of the roller wheels 14, 16, 18, the diameter of the outer periphery 52 is reduced. In FIG. 28 , the original outer periphery 52 from FIG. 27 is shown in dashed lines, while the reduced diameter outer periphery 52′ of the second configuration in FIG. 28 is shown in solid lines. Thus, the end effector 10 can be selectively adjusted to mate with or capture different sized ring receptacles 64 by selectively adjusting the size of the outer periphery 52 via the orientation of the roller wheels 14, 16, 18. Additionally or alternatively, the end effector 10 can be selectively adjusted to provide different levels of pressure against the captured passive receptacle 44 via the change in outer periphery 52. The angle of the roller wheels 14, 16, 18 may be adjusted to reduce the diameter of the perimeter 52 or increase the diameter of the perimeter 52 to a greater extent than shown. In some embodiments, similar results may be obtained for multiple embodiments of the end effector 10 configured to capture post-type receptacles 80. That is, the angle and spacing of the roller wheels 14, 16, 18 may be selectively adjusted to create greater or lesser interior space between the roller wheels 14, 16, 18 to interact with larger or smaller posts 84 and enlarged nubs 86 and / or to adjust the level of pressure applied by the roller wheels 14, 16, 18 to the posts and / or enlarged nubs. These selective adjustments of the end effector 10 may facilitate use of the end effector 10 with passive receptacles 44 of various sizes without changing the size of the roller wheels 14, 16, 18. However, the size of the roller wheels 14, 16, 18 may also or alternatively be selectively varied in various embodiments to adjust the angle and / or position of the roller wheels.

[0060] As a result of the change in orientation of the roller wheels 14, 16, 18, their respective planes are also shifted so that they do not intersect at the center 124 in the configuration shown in Figure 28. For example, the first plane 118 still intersects the second plane 120 and the third plane 122 at non-parallel and non-perpendicular angles (the second plane 120 also still intersects the third plane 122 at a non-parallel and non-perpendicular angle), but they do not all intersect each other at the same location or along the same line.

[0061] 29-30 schematically illustrate embodiments of an end effector 10 having only two roller wheels 14, 16 along with a backstop 57. As shown in FIGS. 29-30, the roller wheels 14, 16 may be positioned such that they are substantially perpendicular to one another; however, in some embodiments, the roller wheels 14, 16 may be positioned differently, e.g., in non-perpendicular planes relative to one another. The backstop 57 may be positioned relative to the roller wheels 14, 16, thereby helping to define the desired size of the outer periphery 52 for engagement with the ring receptacle 64 grasped by the end effector 10. While the illustrated embodiment is implemented via bevel gears 102, 104, other embodiments may utilize a worm screw 108 and worm gear 110, or other implementations. The dashed line 64 represents the ring receptacle 64 captured by the end effector 10. The ring receptacle 64 is thereby disposed about the outer surfaces of the roller wheels 14, 16 and the backstop 57. As shown, the backstop 57 may include a protrusion or lip 126 that helps retain the ring receptacle 64 on the end effector 10.

[0062] FIG. 31 provides a schematic flow chart illustrating exemplary, non-exclusive embodiments of a method 200 according to the present disclosure. In FIG. 31, some steps are shown with dashed lines, indicating that such steps may be optional or may correspond to optional versions of a given method 200 according to the present disclosure. However, not all methods 200 according to the present disclosure are required to include the steps shown with solid lines. The method 200 and steps shown in FIG. 31 are not limiting, and as will be appreciated from the description herein, other methods and steps, including methods having more or fewer steps than those shown, are within the scope of the present disclosure.

[0063] Method 200 generally includes, at 202, bringing an end effector (e.g., end effector 10) into contact with a passive receptacle of an object being captured (e.g., passive receptacle 44 of object 26). As an object facing or directed toward roller wheels (e.g., roller wheels 14, 16, 18) of the end effector approaches the end effector, at 204, the passive receptacle is brought into contact with one or more roller wheels. For example, contacting one or more roller wheels at 204 may include contacting an inward-facing surface of one or more roller wheels with an enlarged nub of a post-type receptacle (e.g., enlarged nub 86 of post-type receptacle 80) or contacting an outward-facing surface and / or top surface of one or more roller wheels with a ring receptacle (e.g., ring receptacle 64). The roller wheels are typically already rotating when an object approaches the end effector, so that when the passive receptacle contacts one or more of the roller wheels of the end effector at 206, the movement of the roller wheels pulls the passive receptacle onto or into the end effector, thereby facilitating capture of the object by gripping the passive receptacle.

[0064] Additionally or alternatively, method 200 may include contacting one or more roller wheels with a passive receptacle at 204 and approaching an object (e.g., passive receptacle 44 of the object) to the end effector at 208 to capture the object via the passive receptacle at 206. In other words, in various methods 200, the end effector may be substantially stationary while the object approaches the end effector, the object may be substantially stationary while the end effector approaches the object, and / or both the end effector and the object may move toward each other to capture or engage with each other.

[0065] Capturing the object at 206 includes rotating the roller wheels such that at least a portion of the passive receptacle is attracted beyond the centerline of each of the roller wheels, thereby effectively locking the passive receptacle onto or between the roller wheels of the end effector (which may be referred to as a locked configuration). In the locked configuration, the end effector is configured such that the passive receptacle remains gripped by the roller wheels even when the drive system is turned off and the roller wheels are stationary. To capture the object at 206, the passive receptacle can be gripped by the roller wheels, thereby disposing the passive receptacle on the exterior of the circumference defined by the roller wheels when the object is captured. Additionally or alternatively, capturing the passive receptacle 206 can include gripping the passive receptacle, thereby disposing the passive receptacle within and between the first roller wheel and the second roller wheel. In some embodiments, capturing the passive receptacle at 206 includes attracting an enlarged nub of the passive receptacle past a first centerline of the first roller wheel and a second centerline of the second roller wheel. Additionally or alternatively, capturing the passive receptacle at 206 can include automatically locking the passive receptacle into position between the first roller wheel, the second roller wheel, 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 embodiments, capturing the passive receptacle at 206 includes engaging a top surface of the roller wheel with a post-shaped receptacle base plate, whereby the base plate is configured to act as a stop structure that limits movement of the object relative to the end effector.The processor or controller of the disclosed system may utilize one or more determination steps to determine whether the target object has been captured and, therefore, whether to continue rotating the roller wheels for the capture configuration, whether to stop the roller wheels, and / or whether to reverse rotation for the launch / release configuration of the end effector.

[0066] To this end, method 200 may include firing or releasing the object from the end effector at 210. Firing or releasing the object from the end effector at 210 may be accomplished by reversing the direction of rotation of the roller wheels, thereby pushing and / or releasing the passive receptacle and object from the roller wheels of the end effector. In releasing or firing the object at 210, the roller wheels push or urge at least a portion of the passive receptacle back past the respective centerlines of the roller wheels until the passive receptacle is pushed out of the end effector via the roller wheels. In some methods 200, after the object is fired at 210, the object may later be captured and / or engaged by the end effector by having the end effector approach the object at 202 and / or having the object approach the end effector at 208 to initiate a capture sequence.

[0067] Method 200 may be performed to capture, mate with, and / or release a UAV or other type of aircraft or object. In other examples, method 200 may be performed to pick up and / or move a package or load, for example, via grabbing a cable or lifting an object with a cable, or capturing an object at 206. In other examples, method 200 may be performed for applications including mating with components in manufacturing (e.g., robotic material handling), capturing aerial refueling system refueling probes, agricultural applications (e.g., picking fruit or other produce), and the like. Method 200 may also be used in underwater applications, such as with an autonomous underwater vehicle (AUV) or remotely operated vehicle (ROV).

[0068] 32-37 and 42-48 provide schematic, non-exclusive views of a controller 140 (or a control system 142 including the same) that may be used to control an end effector 10 according to the present disclosure. Like numbers in each of FIGS. 32-37 and 42-48 (as well as numbers from the schematic views of FIGS. 1-14, where appropriate) refer to elements that perform similar functions or at least substantially similar purposes, and which may not be described in detail herein with respect to each of FIGS. 32-37 and 42-48. Similarly, not all elements are numbered in each of FIGS. 32-37 and 42-48, but the reference numbers associated therewith may be used consistently herein. Elements, components, and / or features described herein with reference to one or more of Figures 1-14, 32-37, and 42-48 may be included in and / or used in conjunction with any of Figures 1-14, 32-37, and 42-48 without departing from the scope of the present disclosure. Generally, elements that are likely to be included in a given (i.e., particular) embodiment are shown with solid lines, and elements that are optional for a given embodiment are shown with dashed lines. However, elements shown with solid lines are not required for all embodiments, and elements shown with solid lines may be omitted from particular embodiments without departing from the scope of the present disclosure.

[0069] 32-34 schematically depict several embodiments of a controller 140 and an end effector 10 operably coupled to a control system 142. The controller 140 is generally configured to position and manipulate the end effector 10, such as to position and manipulate the end effector 10 to capture, manipulate, and / or engage an object. The controller 140 includes one or more elongated support arms 144, more than one of which is shown in FIGS. 32-34. 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 "housing" 150) is configured to engage the end effector 10. In some embodiments, the housing 150 is configured to selectively receive and release the end effector 10. The housing 150 may generally be coupled to the distal end 148 of the at least one elongate support arm 144, or may be coupled to the at least one elongate support arm 144 within the distal end region 148' of the support arm. The distal end region 148' may be, for example, a region of the elongate support arm 144 proximal to the distal end 148, such as within 5%, 10%, or 20% of the length of the elongate support arm 144 away from the distal end 148. In other embodiments, the housing 150 may be coupled to one or more elongate support arms 144 outside of the distal end region 148', away from the distal end 148.

[0070] The controller 140 also includes one or more input devices 152, such as a handle 154, operably coupled to at least one elongated support arm 144. (For example, in embodiments of the controller 140 that include two or more elongated support arms 144, one or more handles 154 or other input devices 152 may each be operably coupled to one or more elongated support arms 144 or two or more of the elongated support arms 144.) The controller 140 may be configured to be manually operated by an operator via the handle 154 or other input device 152, or the controller 140 may be configured to be automatically or remotely operated via one or more remote input devices 152. The input device 152 is configured to receive input from an operator. This input is communicated to the end effector 10. The input from the operator may be of various types, including, but not limited to, manual or force-driven inputs for positioning and movement of the one or more elongated support arms 144 and / or control signals for controlling the end effector 10. For example, the handle 154 may be configured to transmit kinetic forces from an operator to the end effector 10 via one or more elongated support arms 144, and / or the handle 154 may be configured to generate and transmit one or more control signals to the end effector 10 based on operator input. The control signals may include, without limitation, roller direction, roller speed, and / or diameter adjustments for the end effector 10 to accommodate various diameters of a passive receptacle, also referred to herein as a capture receptacle (e.g., ring receptacle 64), coupled to the target object 26, and / or may increase the perimeter 52 of the capture region of the end effector 10 when an object is captured to lock the ring receptacle 64 in place surrounding the roller wheels 14, 16, 18 of the end effector 10. Examples of mechanisms for diameter adjustment that may be controlled via the disclosed controller 140 are described in U.S. patent application Ser. No. 18 / 317,407.The application is entitled "APPARATUSES CONFIGURED TO ALLOW REAL-TIME ADJUSTMENTS OF LOCKING DIMENSIONS," filed May 15, 2023, the entire disclosure of which is incorporated herein by reference. Additionally or alternatively, control device 140 may include handle 154 in the form of a passive grip handle configured to allow an operator (e.g., operator 170, see FIGS. 36-37) to stabilize control device 140 during use.

[0071] The input device 152 may be coupled to the proximal end 146 of the at least one elongate support arm 144, or may be coupled to the at least one elongate support arm 144 within the support arm's proximal end region 146'. The proximal end region 146' may be, for example, a region of the elongate support arm 144 near the proximal end 146, such as within 5%, 10%, or 20% of the length of the elongate support arm 144 away from the proximal end 146. In other embodiments, the input device 152 may be coupled outside the proximal end region 146' or in other areas of the elongate support arm 144 away from the proximal end region 146'.

[0072] In various embodiments of the control device 140, the elongated support arm 144 can be flexible, rigid, semi-rigid, bent, straight, and / or hollow. FIGS. 32-34 depict one embodiment of the control device 140. In this case, the elongated support arm 144 is a static support arm that is at least substantially static relative to the handle 154. The elongated support arm 144 can include a bent portion 156, whereby 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 embodiments, and as shown in FIG. 32, the first portion 158 can be substantially perpendicular to the second portion 160. The bent portion 156 can be a selectively removable portion of the elongated support arm 144 and can be selectively replaceable 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, elongated support arm 144 may be formed of a flexible material, whereby the non-parallel angle between first portion 158 and second portion 160 may be selectively adjustable.

[0073] 33-34 , the control device 140 may include a wrist joint 184 coupling the housing 150 to the at least one elongated support arm 144. The wrist joint 184 is configured to allow rotation of the housing 150 and the end effector 10 relative to the elongated support arm 144, as shown by comparing the angle of the wrist joint 184 in FIGS. 33 and 34 . Thus, the wrist joint 184 rotates relative to the at least one elongated support arm 144. The angle or orientation of the wrist joint 184 relative to the elongated support arm 144 may thereby be selectively adjustable. In some embodiments, the angle or orientation of the wrist joint 184 may be selectively lockable relative to the elongated support arm 144. For example, the locking handle 155 or other input device 152 may be used to selectively lock the angle of the wrist joint 184 relative to the elongated support arm 144. In one particular embodiment, the locking handle 155 may be a twist grip handle (e.g., a locking detent twist grip handle) operably coupled to a Bowden cable 190 and a return spring 192 configured to select the angle or orientation of the wrist joint 184 relative to the at least one elongated support arm 144.

[0074] Additionally or alternatively, the controller 140 may include a flexible drive shaft extension 186 (e.g., a flexible cable to enable movement at the wrist joint 184) configured to transfer power from the drive system 188 (e.g., a motor) to the end effector 10 when the drive system 188 is manipulated via the input device 152 and the end effector 10 is coupled to the housing 150. For example, the input device 152 may include mechanisms for an operator to input speed control and motor direction, with signals, torque, and / or rotation being transferred to the end effector 10 via the flexible drive shaft extension 186. In some embodiments, the flexible drive shaft extension 186 may move inside the elongated support arm 144 (e.g., through a hollow opening in the elongated support arm 144, as seen in FIGS. 32-34 ), or may be coupled to the outside of, or move along, the one or more elongated support arms 144 (e.g., as seen in FIG. 35 ). The flexible drive shaft extension 186 may generally be operably coupled to the drive system 188 at one end and to the end effector 10 at the other end.

[0075] The drive system 188 may be any suitable drive system and is generally spaced from the housing 150 and the end effector 10 for good weight distribution, although in some embodiments the drive system 188 may be located near (and / or integrated into) the housing 150 and the end effector 10. The drive system 188 may include a variable speed and variable direction electric motor and / or replaceable and / or rechargeable batteries for power. Other suitable power sources for the drive shaft 188 may include a gas-powered motor, a hydraulic-powered motor, and / or an internal combustion engine. The drive system 188 is generally coupled to the at least one elongated support arm 144 and, in some embodiments, may be located at the proximal end 146 or within the proximal end region 146' of the at least one elongated support arm 144. Although drive system 188 is shown generally as a gripping drill, drive system 188 is not limited thereto, as will be understood by those skilled in the art.

[0076] The disclosed controller 140 can be configured to automatically control the angular position of the end effector 10 throughout the range of motion of one or more elongated support arms 144. In some embodiments, the controller 140 automatically maintains the end effector 10 at a desired angular position when the end effector 10 is raised, lowered, or otherwise positioned (e.g., when the controller 140 is manipulated). For example, some controllers 140 automatically maintain the end effector 10 horizontally relative to gravity and / or the ground, while some controllers 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 FIGS. 35-37 , the first angle 164 of the top surface 166 of the housing 150 remains substantially constant relative to the direction of gravity g (assuming the operator 170 is standing parallel to the gravity vector) when the second angle 168 of the one or more elongated support arms 144 is selectively changed relative to the direction of gravity g. In some embodiments, the controller 140 is configured to maintain a substantially perpendicular angle 164 of the top surface 166 of the housing 150 relative to the direction of gravity g, thereby maintaining the end effector 10 (generally engaged and / or supported by the top surface 166 of the housing 150) at a substantially constant angle relative to the direction of gravity g. Meanwhile, the elongated support arm 144 is moved to position the end effector 10 in space. For example, as shown in FIGS. 36-37 , the second angle 168 of the elongated support arm 144 is greater in the position shown in FIG. 36 than in the position shown in FIG. 37 . In FIG. 37 , the elongated support arm 144 is moved upward toward the target object 26, which an operator 170 is attempting to capture using the end effector 10 via the controller 140.

[0077] 35-37, 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. The first elongated support arm 172 and the second elongated support arm 174 may be at least substantially parallel to one another. Other embodiments of the control device 140 may include additional elongated support arms 144. The control device 140 may function as an articulated parallelogram, in which case the first elongated support arm 172 and the second elongated support arm 174 form a portion of the articulated parallelogram. Additionally or alternatively, the control device 140 may form another type of four-bar linkage with the first elongated support arm 172 and the second elongated support arm 174. Both the first elongate support arm 172 and the second elongate support arm 174 have a distal link 176 and a proximal link 178 linking the first elongate support arm 172 and the second elongate support arm 174. In embodiments where the operator 170 is not standing parallel to the gravity vector or where gravity is not present (e.g., in space or on a satellite), the angle of the end effector 10 can be held substantially constant relative to the proximal link 178. The distal link 176 couples the first elongate support arm 172 to the second elongate support arm 174 at or near the distal end 148. The angle formed between each elongate support arm 144 and the distal link 176 is thereby selectively adjustable. The distal link 176 can serve to couple the housing 150 to the first elongate support arm 172 and / or the second elongate support arm 174. And / or, the distal link 176 may be integrally formed with the housing 150. As described herein, the distal link 176 generally serves as a coupler link when the control device 140 includes a four-bar linkage.

[0078] 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, thereby selectively adjusting the angle formed between each elongated support arm 144 and the proximal link 178. Accordingly, the angle of the proximal link 178 relative to the first elongated support arm 172 may be selectively adjustable to raise or lower the housing 150, thereby selectively raising or lowering the end effector 10 engaged with the housing 150. The proximal link 178 may serve 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 in addition, the proximal link 178 may be integrally formed with the operator mount 180. As described herein, the proximal link 178 generally serves as a ground link when the control device 140 includes a four-bar linkage. In such a four-bar linkage, a first elongated support arm 172 may serve as a drive link and a second elongated support arm 174 may serve as a follower link. The second elongated support arm 174 may connect a distal link 176 to a proximal link 178.

[0079] The operator mount 180 is shown in FIGS. 35-37 as taking the form of a shoulder mount 182 configured to engage the shoulder of the operator 170 while the controller 140 is in use. The controller 140 is thereby configured to be secured to and supported by the shoulder of the operator 170 via the shoulder mount 182 when the controller 140 is in use. In some embodiments, the drive system 188 is coupled to the shoulder mount 182 (e.g., a shoulder harness, shoulder brace, shoulder strap, etc.). In other embodiments, the operator mount 180 may be a belt mount configured to attach the controller 140 to the belt or waist of the operator 170, or may otherwise be attached to another portion of the operator 170. Thus, the controller 140 may be configured to be wearable, portable, and / or grippable for manual operation by a single operator. As best seen in FIGS. 36-37, the shoulder mount 182 allows at least a portion of the weight of the controller 140 to be borne primarily by the operator's shoulder. Meanwhile, one or more handles 154, 155 or other input devices 152 are used to change the angle of or otherwise manipulate the elongated support arm 144 and position the housing 150 and end effector 10 relative to the target object 26.

[0080] A controller 140, such as any of the schematic embodiments illustrated in FIGS. 32-37, can be used with a variety of different types of end effectors 10. As described herein, a roller gripper end effector 10 is illustrated with the disclosed controller 140, but the controller 140 is not limited to use with such a roller gripper end effector 10. The controller 140 can be used with end effectors 10 having a number of different configurations. In such embodiments, the controller 140 can be configured to selectively transition the end effector 10 between a first configuration and a second configuration and can include a locking mechanism configured to selectively lock the end effector 10 in a selected one of the first and second configurations. For example, a handle 154 (e.g., a twist grip handle 155) can be configured to selectively actuate the controller 140 between the first and second configurations. In one particular embodiment of an end effector 10 having a different configuration, the end effector 10 may be configured to allow adjustment of the diameter of the circumference defined by the roller wheels of the end effector (e.g., changing the capture diameter of the end effector to accept different sized ring receptacles and / or increasing the diameter after capture to lock a target object onto the roller wheels of the end effector), such as 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 incorporated herein by reference.

[0081] The controller 140 may additionally or alternatively include other features as well. For example, the at least one elongated support arm 144 may be telescopic to have a selectively adjustable length. Some embodiments of the controller 140 include a tension spring configured to bias the at least one elongated support arm 144 to a given angle, whereby the tension spring is configured to at least partially support the weight of the controller 140 when in use. In some embodiments, an aiming light or laser may be included and configured to guide the operator 170 in aligning the end effector 10 with the capture receptacle 64 of the target object 26.

[0082] 38-39 show one embodiment of the housing 150 separate from the controller 140 in an assembled state ( FIG. 38 ) and an exploded view ( FIG. 39 ). The housing 150 may include a plurality of openings 198 configured to receive pins or other fasteners to rotatably secure the housing 150 to the elongated support arms 144 (e.g., the first elongated support arm 172 and the second elongated support arm 174) in a pivotable manner such that the elongated support arms 144 may be selectively rotated or pivoted relative to the housing 150. The housing 150 may also include a bore 212 through which one or more wires or cables (e.g., the flexible drive shaft extension 186) may extend to provide power and control signals to the end effector 10.

[0083] The system 142 may be modular. The end effector 10 is selectively detachable from the housing 150 and selectively replaced with a different end effector 10. The different end effectors 10 may be different types, shapes, and / or sizes of end effectors 10 in various embodiments. The housing 150 may be configured for selective quick release of the end effector 10, or one or more fasteners may be removed or adjusted to selectively release the end effector 10 from the housing 150. The housing 150 may include a platform 214 configured to support or engage the support base 38 of the end effector 10 on the top surface 166 of the housing 150. In some embodiments, an upper ring 216 may be configured to sandwich the support base 38 of the end effector 10 between the upper ring 216 and the platform 214 of the housing 150 to secure the end effector 10 to the housing 150.

[0084] 40-41 illustrate several embodiments of a passive receptacle 44 in the form of a ring receptacle 64 that can be coupled to a target object to enable engagement of a control device 140 with an end effector 10 to engage, manipulate, capture, and / or move and position the target object. The ring receptacle 64 of FIG. 40 includes a tapered edge guide 78 that can contact the top surface of the end effector 10 (e.g., one or more roller wheels 14, 16, 18 of the end effector 10) during an attempt to align the ring receptacle 64 with the end effector 10. When the roller wheels of the end effector 10 contact the surface of the tapered edge guide 78, rotation of the roller wheels relative to the tapered edge guide 78 helps guide the ring receptacle 64 onto the end effector 10. When the ring receptacle 64 is captured by the end effector 10, the inner periphery 218 of the ring receptacle 64 surrounds the outer periphery 52 generated by the roller wheels 14, 16, 18 of the end effector 10. At least a portion of the tapered edge guide 78 may be provided with a mesh or open-cell pattern 220 (e.g., the hexagonal support pattern shown in FIG. 40 ) to allow airflow through the tapered edge guide 78 and / or reduce the weight of the ring receptacle 64 while still providing a surface to aid in aligning the ring receptacle 64 with the end effector 10. While FIG. 40 shows a hexagonal pattern, other types of patterns are within the scope of the present disclosure, such as triangular, rectangular, circular, and other shapes. FIG. 41 shows another embodiment of a ring receptacle 64 having a compliant mesh cell pattern 220 along the tapered edge guide 78.

[0085] 42-48 schematically illustrate potential applications and uses of the disclosed controller 140. For example, FIGS. 42-45 illustrate UAV capture and launch applications using a multi-axis roller gripper end effector 10 as disclosed herein engaged with the disclosed controller 140 on various platforms or controller support structures 222, such as manual operation via an operator 170 ( FIG. 42 ), use as a static robotic arm ( FIG. 43 ), use with a mobile robot 194 ( FIG. 44 ), and securing the controller 140 on a vessel-based system 196 ( FIG. 45 ). The static robotic arm, mobile robot 194, and vessel-based system 196 are each examples of controller support structures 222, each of which may be configured to support the controller 140 during use and act as a base mount for the controller 140. Other examples of the controller support structure 222 may include a watercraft, an underwater vehicle, a spacecraft, an artificial satellite, an aircraft, a transportation device, a building, and / or a terrestrial surface or structure. The input device 152 may be directly coupled to the controller 140 (e.g., as in the manual operation examples shown herein), or the input device 152 may be integrated into the platform with which the controller is engaged. For example, the input device 152 may be integrated into or coupled to the static robotic arm device of FIG. 43, the mobile robot 194 of FIG. 44, or the ship-based system 196 of FIG. 45. Additionally or alternatively, the controller 140 may be configured to receive control signals and other inputs from a wireless input device 152 that is not directly coupled to the controller 140.

[0086] FIGS. 46-48 schematically illustrate several embodiments of the controller 140 in a pick-and-place operation. In these embodiments, the target object 26 may not be a UAV, but rather a box, parcel, package, or other stationary object 26. A ring receptacle 64 in the form of an adapter ring 64 is secured thereto. The controller 140 can then be used to position the end effector 10 to engage the adapter ring 64 of the moving or stationary target object 26. Similar to the pick-and-place application shown in FIGS. 42-45, the controller 140 can be utilized in a pick-and-place operation by a manual operator 170 ( FIG. 46 ), through integration of the controller 140 with a static robotic arm ( FIG. 47 ), through integration of the controller 140 with a mobile robot 194 ( FIG. 48 ), and / or through integration of the controller 140 with a ship-based system 196. The controller 140 can be used to sequentially engage and move multiple target objects 26, such as target objects 26a and 26b shown in FIG. 46 . In disclosed embodiments, the controller 140 can be used to position the end effector 10 relative to the target object 26. The end effector 10 thereby engages the adapter ring 64 to selectively pick up a box or package (e.g., target object 26), and the end effector 10 is configured to release the adapter ring 64 to selectively place the box or package at a desired location by using the controller 140 to move the end effector 10 while the end effector 10 and target object 26 are selectively engaged, thereby moving the target object 26 with the end effector 10. Similarly, the controller 140 can be engaged with a gripping-type end effector 10 to perform a gripping operation. FIGS. 46 and 48 illustrate embodiments in which 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 controller 140 may be configured to automatically control the angular position of the end effector 10 so that the end effector 10 is optimized relative to the angular position of the passive receptacle 64 of the target object 26.

[0087] 42-48 illustrate several embodiments of a system 142 including a target object 26, where a controller 140 is configured to position the end effector 10 to selectively capture and release the object 26 via engagement between the end effector 10 and a ring receptacle 64 coupled to the target object 26. Similarly, several embodiments of a system 142 are illustrated in which the controller 140 is configured to perform a pick-and-place operation via engagement between the end effector 10 and the ring receptacle 64 of the target object 26. As described herein, the end effector 10 of the system 142 may be configured to engage or capture the ring receptacle 64 of the object 26 to selectively capture the object 26, and may be further configured to selectively release the ring receptacle 64 (e.g., by reversing the direction of rotation of the roller wheels 14, 16, 18 and / or reducing the diameter of the perimeter 52 generated by the end effector 10) to selectively release the object 26.

[0088] FIG. 49 generally provides a flowchart illustrating exemplary, non-exclusive embodiments of a method 300 according to the present disclosure. In FIG. 49, some steps are shown with dashed lines, indicating that such steps may be optional or may correspond to optional versions of a given method 300 according to the present disclosure. However, not all methods 300 according to the present disclosure need include steps shown with solid lines. The method 300 and steps shown in FIG. 49 are not limiting, and as will be appreciated from the description herein, other methods and steps, including methods having more or fewer steps than those shown, are within the scope of the present disclosure.

[0089] Method 300 includes, at 302, coupling an end effector (e.g., end effector 10) to a housing of a controller (e.g., housing 150 of controller 140), manipulating the end effector at 304, and moving one or more elongated support arms (e.g., one or more elongated support arms 144) of the controller to move and / or position the end effector proximate to a target object (e.g., target object 26) at 306. In some embodiments, manipulating the end effector at 304 includes adjusting a length of at least one elongated support arm (e.g., if the one or more elongated support arms are telescopic or otherwise have a selectively adjustable length), adjusting an angle of a bend in one or more elongated support arms, and / or selectively adjusting an angle or orientation of a wrist joint (e.g., wrist joint 184) of the controller by manipulating a handle or other input device of the controller. Manipulating the end effector 304 may include driving one or more motors of the end effector, changing the orientation of one or more roller wheels of the end effector, and / or changing the speed of one or more roller wheels of the end effector, such as via one or more input devices. The method 300 may also include, at 322, changing the outer diameter generated by the end effector.

[0090] 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 controller is used to position the end effector proximate a target object, the controller may then move the end effector relative to a passive receptacle (e.g., ring receptacle 64 or post-type receptacle 80 ( FIGS. 10-12 )) of the object (e.g., target object 26) at 306, and actually engage the ring receptacle 64 at 308, thereby further used to manipulate, capture, and / or engage the object. As described herein, engaging the passive receptacle with the end effector at 308 may include contacting one or more roller wheels (e.g., roller wheels 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, whereby the passive receptacle is disposed within and between one or more roller wheels of the end effector when the object is captured. In other words, engaging the receptacle at 308 includes attracting an enlarged nub of the receptacle (e.g., enlarged nub 86, see FIGS. 10-12 ) over the centerline of a roller wheel of the end effector. Additionally or alternatively, engaging the receptacle at 308 can include gripping the passive receptacle, whereby the passive receptacle is disposed within and between one or more roller wheels of the end effector.

[0091] The method 300 may include firing or releasing the target object from the end effector at 310. For example, firing or releasing the object from the end effector at 310 may include reversing the direction of rotation of one or more roller wheels of the end effector. In the method 300 in which the controller is used for a pick-and-place operation, after engaging the package or load with the end effector at 308, the package or load (e.g., target object 26) may be picked up and moved at 312, and then released at 310 once the object is placed in the desired location.

[0092] In some examples, method 300 includes, at 314, removing a bend in at least one elongate support arm (e.g., bend 156) and replacing the bend by placing an angled element (e.g., angled element 162) between two portions of the elongate support arm, thereby switching or changing the angle of the elongate support arm. Additionally or alternatively, method 300 may include securing the controller to an operator (e.g., operator 170) at 316, such as by placing a shoulder mount of the controller on the operator's shoulder or a belt mount of the controller against the operator's waist or buttocks, to secure the controller for use by the operator.

[0093] The method 300 may include selectively releasing the end effector from the housing at 318, such as to exchange end effectors used with the controller for different applications. Additionally or alternatively, the method 300 may include securing the controller to a static robot arm, a mobile robot, or other controller support structure at 320.

[0094] Illustrative, non-exclusive embodiments of the subject matter of the present disclosure are described in the following enumerated paragraphs.

[0095] A1. 1. A control device for positioning and manipulating an end effector, comprising: one or more elongated support arms, each elongated support arm of the one or more elongated support arms extending from a proximal end to a distal end; a housing configured to engage the end effector, the housing coupled within the distal end or distal end region of at least one of the one or more elongated support arms; and an input device operably coupled to at least one of the one or more elongated support arms, the input device configured to communicate input from an operator to the end effector through the at least one of the one or more elongated support arms.

[0096] A1.1. The control device described in paragraph A1, wherein the input device is configured to transmit a motor force from the operator to the end effector through the one or more elongated support arms.

[0097] A1.2. The control device of paragraph A1 or A1.1., wherein the input device is configured to communicate one or more control signals from the operator to the end effector.

[0098] 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 of the end effector.

[0099] A2. The control device of any one of paragraphs A1 to A1.3, wherein the input device is coupled to the proximal end or within the proximal end region of at least one of the one or more elongated support arms.

[0100] A3. The control device of any one of paragraphs A1-A2, wherein at least one elongated support arm of the one or more elongated support arms includes a static support arm that is at least substantially static relative to the input device.

[0101] A4. The control device of any one of paragraphs A1 to A3, wherein at least one of the one or more elongated support arms is rigid or semi-rigid.

[0102] A5. The control device of any one of paragraphs A1 to A4, wherein at least one of the one or more elongated support arms includes a bend such that a first portion of the at least one elongated support arm is positioned at a non-parallel angle relative to a second portion of the at least one elongated support arm.

[0103] A6. The control device described in 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.

[0104] A7. The control device described in paragraph A5 or A6, wherein the bending portion of the at least one elongated support arm is selectively detachable 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 of the at least one elongated support arm and the second portion of the at least one elongated support arm.

[0105] A7.1. The control device of any one of paragraphs A5 to A7, wherein the bent portion of the at least one elongated support arm comprises a flexible material such that the non-parallel angle is selectively adjustable.

[0106] A8. The control device of any one of paragraphs A1 to A7.1, wherein the control device is configured to automatically level the end effector throughout the range of motion of the one or more elongated support arms.

[0107] A8.1. The control device of any one of paragraphs A1 to 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.

[0108] A9. The control device of any one of paragraphs A1 to A8.1, wherein the control device is configured to maintain a first angle of the upper surface of the housing substantially constant relative to the direction of gravity when a second angle of the one or more elongated support arms is selectively changed relative to the direction of gravity.

[0109] A10. The control device of any one of paragraphs A1 to A9, wherein the one or more elongated support arms include a first elongated support arm and a second elongated support arm, and the second elongated support arm is at least substantially parallel to the first elongated support arm.

[0110] A11. The control device of paragraph A10, wherein the control device functions as an articulated parallelogram, and the first elongated support arm and the second elongated support arm form a portion of the articulated parallelogram.

[0111] A12. The control device a distal link coupled to the first elongated support arm and the second elongated support arm; and a proximal link coupled to the first elongated support arm and the second elongated support arm; The control device of paragraph A10 or A11, wherein the distal link, the proximal link, the first elongated support arm, and the second elongated support arm together form a four-bar linkage.

[0112] A12.1. The control device described in paragraph A12, wherein the distal link couples the housing to the first elongated support arm and / or the second elongated support arm.

[0113] A12.2. The control device of A12 or A12.1, wherein the housing is integrally formed with the distal link.

[0114] A12.3 The control device of any one of paragraphs A12 to A12.2, wherein the distal link is a coupler link of the four-bar linkage.

[0115] A12.4. The control device of any one of paragraphs A12 to A12.3, wherein the first elongated support arm is a drive link of the four-bar linkage.

[0116] A12.5. The control device described in paragraph A12.4, wherein the input device is operably coupled to the first elongated support arm such that the input device is configured to transfer a motion force to the first elongated support arm.

[0117] A12.6. The control device of any of paragraphs A12 to A12.5, wherein the second elongated support arm is a follower link of the four-bar linkage.

[0118] 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.

[0119] 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 housing.

[0120] A14. The control device of any one of paragraphs A1 to A13, further comprising a shoulder mount of the control device configured to engage with the shoulder of the operator such that the control device is configured to be supported by the operator via the shoulder mount when the control device is in use.

[0121] A15. 15. The control device described in paragraph 14, wherein the shoulder mount is coupled to a proximal link.

[0122] A16. The control device of any of paragraphs A1-A15, wherein the housing is configured to selectively receive and release the end effector.

[0123] A17. The control device of any one of paragraphs A1 to A16, wherein the housing comprises a platform configured to support a support base of the end effector on the platform.

[0124] A18. The control device described in paragraph A17, wherein the housing includes an upper ring configured to sandwich the support base of the end effector between the upper ring and the platform.

[0125] A19. The control device of any of paragraphs A1 to A18, wherein the control device includes a wrist joint coupling the housing to at least one of the one or more elongated support arms.

[0126] A20. The control device of any one of paragraphs A1 to A19, further comprising a flexible drive shaft extension configured to transfer power from a drive system to the end effector when the end effector is coupled to the housing.

[0127] A21. The control device of paragraph A20, wherein the flexible drive shaft extension includes a flexible cable.

[0128] A22. The control device of paragraph A20 or A21, wherein the flexible drive shaft extension is fixed to at least one elongated support arm of the one or more elongated support arms.

[0129] A22.1. The control device of any one of A20 to A22, wherein the flexible drive shaft extension is operably coupled to the drive system and the end effector.

[0130] A23. The control device of any one of paragraphs A20 to A22.1, wherein the flexible drive shaft extension extends through a hollow opening in at least one elongated support arm of the one or more elongated support arms.

[0131] A24. The control device of any one of paragraphs A1 to A23, further comprising a drive system configured to drive the end effector via a flexible drive shaft extension, the drive system being spaced apart from the housing.

[0132] A24.1. The control device described in paragraph A24, wherein the drive system comprises a variable speed and variable direction motor.

[0133] A25. The control device described in paragraphs A1 to A24.1, wherein the drive system is coupled to at least one elongated support arm at or within the proximal end or proximal end region of at least one elongated support arm of the one or more elongated support arms.

[0134] A25.1. The control device of paragraphs A1-A25, wherein the drive system is coupled to a shoulder harness configured to secure the control device to the operator.

[0135] A26. The control device of any one of paragraphs A1 to A25.1, wherein the control device is attachable.

[0136] A27. The control device of any one of paragraphs A1 to A26, further comprising a wrist joint, the wrist joint coupling the housing to at least one elongated support arm of the one or more elongated support arms, the wrist joint rotating relative to the at least one elongated support arm.

[0137] A27.1. The control device described in paragraph A27, wherein the angle or orientation of the wrist joint relative to the at least one elongated support arm is selectively adjustable.

[0138] A27.2. The control device of paragraph A27 or A27.1, wherein the angle or the orientation of the wrist joint is selectively lockable.

[0139] A27.3. The control device of any one of paragraphs A27 to A27.2, further comprising a twist grip handle having a Bowden cable and spring configured to selectively control the angle or the orientation of the wrist joint relative to the at least one elongated support arm.

[0140] A28. The control device of any one of paragraphs A1 to A27.3, further comprising a shoulder harness configured to engage with the operator's shoulder and / or shoulder mount for supporting and operating the control device.

[0141] A28.1. The control device of any of paragraphs A1-A28, further comprising a belt mount configured to attach the control device to a belt or waist of the operator of the control device.

[0142] A29. The control device of any one of paragraphs A1 to A28.1, wherein the control device is configured to be manually operated by a single operator.

[0143] A29.1. The control device of any of paragraphs A1-A29, wherein the control device is configured to be gripped.

[0144] A30. The control device of any one of paragraphs A1 to A29.1, further comprising a passive grip handle configured to allow the operator to stabilize the control device during use.

[0145] A31. The control device of any of paragraphs A1 to A30, wherein the input device is configured to control a speed and orientation of a drive system configured to power the end effector.

[0146] A32. The control device of any of paragraphs A1-A31, further comprising a locking detent twist grip.

[0147] A33. The control device of any one of paragraphs A1 to A32, wherein the control device is configured to selectively transition the end effector between a first configuration and a second configuration, and the control device further comprises a locking mechanism configured to selectively lock the end effector in a selected one of the first configuration and the second configuration.

[0148] A33.1. The control device of paragraph A33, wherein a twist-grip handle is configured to selectively actuate the control device between the first configuration and the second configuration.

[0149] A33.2. The control device of paragraph A33.1, wherein the input device includes the twist grip handle.

[0150] A34. The control device of any one of paragraphs A1 to A33.2, wherein at least one elongated support arm of the one or more elongated support arms is telescopic such that the at least one elongated support arm has a selectively adjustable length.

[0151] A35. The controller of any of paragraphs A1 to A34, wherein the controller is configured for use with a static robotic arm.

[0152] A36. The controller of any of paragraphs A1 to A35, wherein the controller is configured for use with a mobile robot.

[0153] A37. The controller of any one of paragraphs A1 to A36, wherein the controller is configured for use on a ship-based system.

[0154] A38. The control device of any of paragraphs A1 to A37, further comprising a replaceable rechargeable battery that powers a drive system of the control device.

[0155] A39. The control device of any one of paragraphs A1 to A38, further comprising a tension spring configured to bias at least one elongated support arm of the one or more elongated support arms to a given angle such that the tension spring is configured to at least partially support the weight of the control device during use.

[0156] A40. The control device of any of paragraphs A1 to A39, wherein the control device is configured to be portable.

[0157] A41. The control device of any one 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.

[0158] A42. The control device of paragraph A41, wherein the power source includes a gas pressure motor, an air compressor, a hydraulic motor, and / or a hydrostatic transmission.

[0159] A43. The control device of any of paragraphs A1 to A42, further comprising an aiming light or laser configured to guide the operator in aligning the end effector with a capture receptacle of the target object.

[0160] B1. A control device according to any one of paragraphs A1 to A43, and A system comprising the end effector.

[0161] B2. The system described in paragraph B1, wherein the end effector is an end effector described in any one of paragraphs C1 to C39.

[0162] B3. The system of paragraphs B1 or B2, further including an object, wherein the controller is configured to position the end effector to selectively capture and release the object.

[0163] B4. The system described in paragraph B3, wherein the end effector is configured to engage a ring receptacle of the object to selectively capture the object, and the end effector is configured to release the ring receptacle to selectively release the object.

[0164] B5. The system of paragraph B4, wherein the ring receptacle of the object includes a hexagonal, rectangular, or triangular mesh pattern configured to allow airflow therethrough.

[0165] B6. The system of any one of paragraphs B3 to B5, wherein the object is an unmanned aerial vehicle (UAV).

[0166] B7. The system of any one of paragraphs B1 to B6, wherein the control device is configured to perform a pick-and-place operation via the end effector.

[0167] B8. The system of paragraph B7, further comprising an adapter ring configured to be secured to a box or package, wherein the end effector is configured to engage the adapter ring to selectively pick up the box or the package, and the end effector is configured to release the adapter ring to selectively place the box or the package.

[0168] B9. The system of any one of paragraphs B1 to B8, further comprising a support structure that supports the control device during use and acts as a base mount for the control device, the support structure including a ship or other marine vessel, an underwater vehicle, a spacecraft, a satellite, an aircraft, a static robot, a mobile robot, a transport device, a robotic device, a building, and / or a terrestrial surface or structure.

[0169] B10. The system of any one of paragraphs B1 to B9, wherein the control device is configured to perform a grasping operation via the end effector.

[0170] B11. The system of any one of paragraphs B1 to B10, wherein the end effector comprises at least one roller wheel.

[0171] B12. The system of paragraphs B1-B11, wherein the end effector includes a grasping end effector.

[0172] B13. The system of any one of paragraphs B1 to B12, wherein the end effector comprises a multi-directional roller gripper.

[0173] C1. a first roller wheel configured to rotate in a first plane; and an end effector comprising a second roller wheel configured to rotate in a second plane non-parallel to the first plane, The first roller wheel and the second roller wheel are positioned relative to one another such that the end effector is configured to capture an object via the first roller wheel and the second roller wheel, and the end effector is further configured to selectively release the object from the first roller wheel and the second roller wheel.

[0174] C2. The end effector of paragraph C1, further comprising a drive system configured to rotate the first roller wheel and the second roller wheel.

[0175] C3. The end effector described in paragraph C2, wherein the drive system includes a drive shaft operably coupled to the first roller wheel and the second roller wheel such that the drive shaft is configured to transmit rotational movement from a motor to both the first roller wheel and the second roller wheel.

[0176] C4. The end effector of paragraphs C2 or C3, wherein the drive system includes a motor configured to drive the first roller wheel and the second roller wheel.

[0177] C5. The end effector of any one of paragraphs C2 to C4, wherein the drive system includes a central control gear and a plurality of radially spaced spur gears, the central control gear configured to rotate the plurality of radially spaced spur gears, each respective spur gear configured to drive a respective roller wheel.

[0178] C5.1. The end effector of paragraph C5, wherein the central control gear is centrally located between the plurality of radially spaced spur gears.

[0179] C6. The end effector of any one of paragraphs C2 to C5.1, wherein the drive system includes a respective bevel gear for each respective roller wheel.

[0180] C7. The end effector of any one of paragraphs C2 to C5.1, wherein the drive system includes a respective worm gear for each respective roller wheel.

[0181] C8. The end effector of any one of paragraphs C2 or C5-C7, wherein the drive system includes a respective motor for each respective roller wheel.

[0182] C9. The end effector of any one of paragraphs C2 to C8, wherein the drive system includes an external control gear ring configured to rotate a plurality of radially spaced spur gears, each respective spur gear configured to drive a respective roller wheel.

[0183] C10. The end effector of any one of paragraphs C2 to C9, wherein the drive system further comprises a limit switch configured to stop the first roller wheel and / or the second roller wheel after the object is captured.

[0184] C11. The end effector of any one of paragraphs C1 to C10, wherein the first roller wheel is configured to be selectively reversed between two opposite rotational directions and the second roller wheel is configured to be selectively reversed between two opposite rotational directions.

[0185] C11.1. The end effector of any one of paragraphs C1 to C11, wherein the first roller wheel is configured to have a speed selectively changed and the second roller wheel is configured to have a speed selectively changed.

[0186] C12. The end effector of any one of paragraphs C1 to C11.1, wherein the end effector is configured to capture the object while the object is floating, hovering, and / or flying above, to the side, below, and / or near the end effector.

[0187] C12.1. The end effector of any of paragraphs C1 to C12, wherein the end effector is configured to capture a static object while the end effector is moved toward the static object.

[0188] C13. The end effector of any one of paragraphs C1 to C12.1, wherein the end effector is configured to capture the object when the object is offset from the end effector along multiple positions and / or axes of rotation.

[0189] C13.1. The end effector of any of paragraphs C1 to C13, wherein the end effector is configured to capture the object from a full 360-degree range of azimuth angles.

[0190] C14. The end effector of any one of paragraphs C1 to C13.1, wherein the end effector is coupled to a support structure.

[0191] C15. The end effector of paragraph C14, wherein the support structure includes an arm, a pole, a handle, and / or a platform.

[0192] C16. The end effector of any of paragraphs C1 to C15, wherein the end effector is configured for manual operation.

[0193] C17. The end effector of any one of paragraphs C1 to C16, wherein the end effector is configured for automated operation.

[0194] C18. The end effector of any one of paragraphs C1 to C17, wherein the end effector is configured to be implemented using a robotic device, a transport device, a static robotic arm, a land-based system, a mobile robot, and / or a ship-based system.

[0195] 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 for the object.

[0196] C19.1. The end effector of paragraph C19, wherein the end effector is configured to automatically lock the passive receptacle in place when the passive receptacle is grasped and pulled across a first centerline of the first roller wheel and a second centerline of the second roller wheel.

[0197] C20. The end effector of paragraph C19 or C19.1, wherein the passive receptacle includes a ring receptacle.

[0198] C21. The end effector of any of paragraphs C19-C20, wherein the passive receptacle includes a post-type receptacle.

[0199] C22. The end effector of any one of paragraphs C19 to C21, wherein the passive receptacle is disposed within and between the first roller wheel and the second roller wheel, and is configured to grasp the passive receptacle to thereby capture the object.

[0200] C23. The end effector of any one of paragraphs C19 to C22, wherein the end effector is configured to grasp the passive receptacle such that when the object is captured, the passive receptacle is positioned around the exterior of the first roller wheel and the second roller wheel and around a circumference defined by the first roller wheel and the second roller wheel.

[0201] C24. The end effector of any one of paragraphs C1 to C23, further comprising at least one stop structure configured to support and limit movement of the object while the object is captured by the end effector.

[0202] C24.1. The end effector of paragraph C24, wherein the at least one stop structure is coupled to or forms part of a passive receptacle of the object.

[0203] C25. The end effector of any one of paragraphs C1 to C24.1, further comprising a support element that supports the first roller wheel, the second roller wheel, and / or a drive system.

[0204] C26. The end effector of any one of paragraphs C1 to C25, wherein the object the end effector is configured to capture and selectively release comprises an aircraft.

[0205] C27. The end effector of any one of paragraphs C1 to C26, wherein the first roller wheel and / or the second roller wheel comprises an airless tire, a gas-pressure tire, a rubber wheel, a belt, and / or a solid wheel.

[0206] C28. The end effector of any one of paragraphs C1 to C27, wherein the first roller wheel and / or the second roller wheel are rigid, compliant, and / or compressible.

[0207] C29. The end effector of any of paragraphs C1 to C28, wherein the first roller wheel and / or the second roller wheel include one or more compliant regions.

[0208] C30. The end effector of any one of paragraphs C1 to C29, wherein the first roller wheel and / or the second roller wheel have a durometer selected based on characteristics of the object being captured.

[0209] C30.1. The end effector of any one of paragraphs C1 to C30, wherein the first roller wheel and / or the second roller wheel have a durometer selected based on a passive receptacle of the object being captured.

[0210] C31. The end effector of any one of paragraphs C1 to C30.1, wherein the first roller wheel and / or the second roller wheel includes a central groove formed in the outer circumferential surface of the first roller wheel and / or the second roller wheel.

[0211] C32. The end effector of paragraph C31, wherein the central groove is configured to improve alignment of the object when the object is captured.

[0212] C32.1. The end effector of paragraphs C31 or C32, further comprising secondary features on the outer circumferential surface, the secondary features configured to enhance the ability to capture the object.

[0213] C32.2. The end effector of paragraph C32.1, wherein the secondary features include one or more radial grooves and / or a tread pattern.

[0214] C33. The end effector of any one of paragraphs C1 to C32.2, further comprising one or more additional roller wheels, each respective roller wheel of the one or more additional roller wheels configured to rotate in a respective plane that is non-parallel to the first plane and the second plane.

[0215] C34. The end effector of any one of paragraphs C1 to C33, further comprising a third roller wheel, the third roller wheel configured to rotate in a third plane that is non-parallel to the first plane and the second plane.

[0216] C35. The end effector described in paragraph C34, wherein the first roller wheel, the second roller wheel, and the third roller wheel are arranged so that the first plane, the second plane, and the third plane intersect each other.

[0217] C36. The end effector of any one of paragraphs C1 to C35, further comprising a support element supporting the first roller wheel, the second roller wheel, the third roller wheel, a stop structure, and / or a drive system.

[0218] C37. The end effector of any one of paragraphs C1 to C36, wherein the end effector is modularly configured such that the end effector is selectively reconfigurable with different numbers of roller wheels, multiple drive shaft mounts, and / or structural attachment points.

[0219] C38. The end effector of any one of paragraphs C1 to C37, further comprising a backstop positioned to engage the object when the object is captured by the first roller wheel and the second roller wheel.

[0220] C39. An end effector comprising a plurality of roller wheels, the plurality of roller wheels comprising: a first roller wheel, A second roller wheel, Third roller wheel, at least one further roller wheel, a drive system configured to selectively rotate the plurality of roller wheels, the drive system configured such that each roller wheel of the plurality of roller wheels is selectively reversible between a first rotational direction and a second, opposite rotational direction; and a support base configured to support the plurality of roller wheels such that the plurality of roller wheels are positioned relative to one another such that the end effector is configured to capture an object via rotation of the plurality of roller wheels; the end effector is further configured to selectively release the object from the plurality of roller wheels by reversing rotation of the plurality of roller wheels; an end effector, wherein at least one roller wheel of the plurality of roller wheels is disposed in a first plane that is non-parallel to a second plane in which at least one other roller wheel of the plurality of roller wheels is disposed.

[0221] D1. 1. A method of engaging an object, comprising: Coupling an end effector to a housing of a control device according to any one of paragraphs A1 to A43; and moving one or more elongated support arms to position the end effector to manipulate, capture, and / or engage the object.

[0222] D2. The method of paragraph D1, wherein the end effector includes an end effector described in any one of paragraphs C1 to C39.

[0223] D3. positioning the end effector relative to a passive receptacle on the object; and The method of paragraph D1 or D2, further comprising engaging the passive receptacle with the end effector such that the end effector manipulates, captures, and / or engages the object.

[0224] D4. The method of any one of paragraphs D1 to D3, wherein engaging a passive receptacle with the end effector includes contacting a first roller wheel and / or a second roller wheel of the end effector with the passive receptacle.

[0225] D5. The method of any one of paragraphs D1 to D4, wherein engaging the passive receptacle includes capturing the passive receptacle via the end effector by rotating a first roller wheel in a first direction and rotating a second roller wheel in a second direction, thereby attracting at least a portion of the passive receptacle across a first centerline of the first roller wheel and a second centerline of the second roller wheel.

[0226] D6. The method of any one of paragraphs D1 to D5, wherein the passive receptacle includes a ring receptacle.

[0227] D7. The method of any one of paragraphs D1 to D6, comprising grasping the passive receptacle with the end effector so that when the object is captured, the passive receptacle is positioned on an outer circumferential exterior defined by the first roller wheel and the second roller wheel.

[0228] D8. The method of any one of paragraphs D1-D7, wherein the passive receptacle includes a post-type receptacle.

[0229] D9. The method of paragraph D8, wherein the post-type receptacle comprises an elongated post or peg extending to a distal end of the post-type receptacle comprising an enlarged nub.

[0230] D10. The method described in paragraph D9, including capturing the passive receptacle by attracting the enlarged nub across a first centerline of a first roller wheel and a second centerline of a second roller wheel of the end effector.

[0231] D11. The method of any one of paragraphs D1 to D10, including capturing the passive receptacle by gripping the passive receptacle so as to position the passive receptacle within and between a first roller wheel and a second roller wheel of the end effector.

[0232] D12. The method of any one of paragraphs D1-D11, further comprising firing or releasing the object from the end effector.

[0233] D13. The method of paragraph D12, wherein launching or releasing the object from the end effector includes reversing the direction of rotation of a first roller wheel and a second roller wheel.

[0234] D14. The method of any one of paragraphs D1 to D13, comprising engaging a package or load with the end effector and then picking up and / or moving the package or load by moving the end effector by moving the one or more elongated support arms.

[0235] D15. removing a bend in at least one of the one or more elongated support arms; and The method of any one of paragraphs D1 to D14, further including disposing an angled element between the first portion of the at least one elongated support arm and / or the second portion of the at least one elongated support arm.

[0236] D16. The method of any one of paragraphs D1-D15, further comprising securing the control device to the operator by placing a shoulder mount of the control device on the operator's shoulder.

[0237] D17. The method of any one of paragraphs D1-D16, further comprising selectively releasing the end effector from the housing.

[0238] D18. The method of any one of paragraphs D1 to D17, further comprising selectively adjusting the angle or orientation of a wrist joint of the control device by manipulating a handle and / or an input device of the control device.

[0239] D19. The method of any one of paragraphs D1-D18, further comprising locking the end effector in a selected configuration.

[0240] D20. The method of any of paragraphs D1-D19, further comprising adjusting a length of at least one elongated support arm of the one or more elongated support arms.

[0241] D21. The method of any one of paragraphs D1 to D20, further comprising securing the control device to a static robotic arm, the static robotic arm configured to manipulate the control device.

[0242] D22. The method of any one of paragraphs D1 to D21, further comprising securing the control device to a mobile robot arm, the mobile robot arm configured to operate the control device.

[0243] E1. Use of a control device according to any one of paragraphs A1 to A43 for capturing and / or releasing an air vehicle.

[0244] E2. Use of the control device of any one of paragraphs A1 to A43 and the end effector of any one of paragraphs C1 to C39 to capture and / or release an aerial vehicle.

[0245] E3. Use of a control device according to any one of paragraphs A1 to A43 for lifting and / or loading packages or loads.

[0246] E4. Use of the control device of any one of paragraphs A1 to A43 and the end effector of any one of paragraphs C1 to C39 for lifting and / or loading a package or load.

[0247] E5. Use of a control device according to any one of paragraphs A1 to A43 for a pick and place operation.

[0248] E6. Use of the control device of any one of paragraphs A1 to A43 and the end effector of any one of paragraphs C1 to C39 for a pick-and-place operation.

[0249] E7. Use of a system according to any one of paragraphs B1 to B13 for capturing and / or releasing an air vehicle.

[0250] E8. Use of a system according to any one of paragraphs B1 to B13 for lifting and / or loading packages or loads.

[0251] E9. Use of the system of any one of paragraphs B1 to B13 for a pick-and-place operation.

[0252] As used herein, the terms "selective" and "selectively" mean that an operation, movement, configuration, or other activity of one or more components of a device, or that changes one or more characteristics of a device, is the direct or indirect result of a dynamic process of an aspect or one or more components of the device and / or a user's manipulation of an aspect or one or more components of the device. Thus, the terms "selective" and "selectively" can characterize an activity that is the direct or indirect result of a user's manipulation of an aspect or one or more components of a device, or can characterize a process that occurs automatically, for example, through the mechanisms disclosed herein.

[0253] As used herein, the terms "adapted" and "configured" mean that an element, component, or other object is designed and / or intended to perform a given function. Thus, the use of the terms "adapted" and "configured" should not be interpreted to mean that a given element, component, or other object is merely "capable" of performing a given function, but rather that the element, component, and / or other object has been specifically selected, created, implemented, utilized, programmed, and / or designed to perform that function. It is further within the scope of this disclosure that elements, components, and / or other listed objects listed as adapted to perform a particular function may additionally or alternatively be described as configured to perform that function, and vice versa. Similarly, objects listed as configured to perform a particular function may additionally or alternatively be described as operable to perform that function.

[0254] As used herein, the phrase "at least one" in connection with a list of one or more entities should be understood to mean at least one entity selected from any one or more of the entities in the list of entities, but does not necessarily include at least one of every individual entity specifically listed in the list of entities, and does not exclude any combination of entities in the list of entities. This definition further allows for the optional presence of entities other than those specifically identified in the list of entities associated with the phrase "at least one," whether related or unrelated to those specifically identified entities. Thus, as a non-limiting example, "at least one of A and B" (or, similarly, "at least one of A or B," or, similarly, "at least one of A and / or B") means, in one embodiment, at least one, optionally including more than one A, and no B (and optionally including entities other than B); in another embodiment, at least one, optionally including more than one B, and no A (and optionally including entities other than A); and in yet another embodiment, at least one, optionally more than one A, and at least one, optionally more than one B (and optionally including other entities). In other words, the terms "at least one," "one or more," and "and / or" are open-ended expressions that are both conjunctive and disjunctive in their operation. For example, the phrases "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 only, B only, C only, A and B together, A and C together, B and C together, A, B, and C together, and optionally combinations of any of the above with at least one other item.

[0255] The various disclosed elements of the apparatus and steps of the methods disclosed herein are not required for all apparatus and methods according to the present disclosure; the present disclosure includes all novel and non-obvious combinations and subcombinations of the various elements and steps disclosed herein. Moreover, one or more of the various elements and steps disclosed herein may define independent inventive subject matter that is distinct and separate from the entirety of the disclosed apparatus or method. Thus, such inventive subject matter need not relate to the particular apparatus and methods explicitly disclosed herein, and such inventive subject matter may also find utility in apparatus and / or methods not explicitly disclosed herein.

[0256] As used herein, the phrases "for example," "as example," and / or simply "example," when used in connection with one or more components, features, details, structures, embodiments, and / or methods according to the present disclosure, are intended to convey that the described components, features, details, structures, embodiments, and / or methods are exemplary, non-limiting examples of the components, features, details, structures, embodiments, and / or methods according to the present disclosure. Thus, the described components, features, details, structures, embodiments, and / or methods are not intended to be limiting, required, or exhaustive, and other components, features, details, structures, embodiments, and / or methods, including structurally and / or functionally similar and / or equivalent components, features, details, structures, embodiments, and / or methods, are also included within the scope of the present disclosure.

Claims

1. A control device (140) for positioning and manipulating an end effector (10), comprising: one or more elongated support arms (144), each elongated support arm (144) of the one or more elongated support arms (144) extending from a proximal end (146) to a distal end (148); a housing (150) configured to engage the end effector (10), the housing (150) being coupled within the 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 operably coupled to at least one of the one or more elongated support arms, the input device configured to transmit input from an operator to the end effector via the at least one of the one or more elongated support arms; 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. 2. The control device (140) of claim 1, wherein the input device (152) comprises a handle (154) configured to transmit a motive force from the operator (170) to the end effector (10) via the one or more elongated support arms (144), the handle (154) 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 roller direction, roller speed, and diameter adjustment of the end effector (10).

4. 2. The control device (140) of 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), the second elongated support arm (174) being at least substantially parallel to the first elongated support arm (172), the control device (140) functioning as an articulated parallelogram, and the first elongated support arm (172) and the second elongated support arm (174) forming a portion of the articulated parallelogram.

5. The control device (140) a distal link (176) coupled to the first elongated support arm (172) and the second elongated support arm (174); and a proximal link (178) coupled to the first elongated support arm (172) and the second elongated support arm (174); 5. The control device (140) of claim 4, 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) of claim 5, wherein the distal link (176) couples the housing (150) to the first elongated support arm (172) and the second elongated support arm (174).

7. The control device (140) of claim 6, wherein the housing (150) is integrally formed with the distal link (176).

8. 7. The control device of claim 6, wherein the distal link is a coupler link of the four-bar linkage, the first elongated support arm is a drive link of the four-bar linkage, and the second elongated support arm is a follower link of the four-bar linkage, and the second elongated support arm is configured to connect the distal link to the proximal link such that an angle of the proximal link relative to the first elongated support arm is selectively adjustable to raise and lower the housing.

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

10. The control device (140) of claim 1, wherein the housing (150) is configured to selectively receive and release the end effector (10).

11. 2. The control device (140) of claim 1, further comprising a flexible drive shaft extension (186) configured to transmit power from a drive system (188) to the end effector (10) when the end effector (10) is coupled to the housing (150).

12. 12. The control device (140) of claim 11, further comprising a drive system (188) configured to drive the end effector (10) via the flexible drive shaft extension (186), the drive system (188) being spaced from the housing (150), and the drive system (188) comprising a variable speed and variable direction motor.

13. The control device (140) of claim 1, wherein the control device (140) is configured to be manually operated by a single operator (170).

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

15. 2. The control device (140) of claim 1, wherein at least one elongated support arm (144) 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. 2. The control device (140) of claim 1, further comprising a tension spring configured to bias at least one elongated support arm (144) of the one or more elongated support arms (144) to a given angle such that the tension spring is configured to at least partially support the weight of the control device (140) during use.

17. A control device (140) according to claim 1, and A system (12) comprising the end effector (10).

18. The end effector (10) a first roller wheel (14) configured to rotate in a first plane (118); and a second roller wheel (16) configured to rotate in a second plane (120) non-parallel to the first plane (118); 18. The system (12) of claim 17, wherein the first roller wheel (14) and the second roller wheel (16) are positioned relative to one another such that the end effector (10) is configured to capture an object (26) via the first roller wheel (14) and the second roller wheel (16), and the end effector (10) is further configured to selectively release the object (26) from the first roller wheel (14) and the second roller wheel (16).

19. A control device (140) for positioning and manipulating an end effector (10), comprising: one or more elongated support arms (144), each elongated support arm (144) of the one or more elongated support arms (144) extending from a proximal end (146) to a distal end (148), at least one elongated support arm (144) of the one or more elongated support arms (144) being oriented at a non-parallel angle relative to a second portion (160) of the at least one elongated support arm (144); one or more elongated support arms (144) including a bend in the at least one elongated support arm (144), the bend of the at least one elongated support arm (144) being selectively detachable from the at least one elongated support arm (144) and selectively replaceable with an angled element (162) 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 housing (150) configured to engage the end effector (10), the housing (150) being coupled within the distal end (148) or distal end region (148') of at least one of the one or more elongated support arms (144); and A control device (140) comprising an input device (152) operably coupled to at least one elongated support arm (144) of the one or more elongated support arms (144), the input device (152) being configured to transmit input from an operator (170) of the control device (140) to the end effector (10) via the at least one elongated support arm (144) of the one or more elongated support arms (144).

20. A method (300) for engaging an object (26), comprising: Coupling (302) an end effector (10) to the housing (150) of the control device (140) of claim 1; and A method (300) comprising moving (306) the one or more elongated support arms (144) to position the end effector to manipulate, capture, or engage the object (26).

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