US 11,939,081 B2
End effectors with multi-axis roller wheels, systems including the same, and related methods
James J. Troy, Issaquah, WA (US); Daniel M. Simunovic, Titusville, FL (US); Gary E. Georgeson, Tacoma, WA (US); and Joseph Lawrence Hafenrichter, Auburn, WA (US)
Assigned to THE BOEING COMPANY, Arlington, VA (US)
Filed by The Boeing Company, Chicago, IL (US)
Filed on Dec. 14, 2021, as Appl. No. 17/551,049.
Prior Publication US 2023/0182922 A1, Jun. 15, 2023
Int. Cl. B64F 1/02 (2006.01)
CPC B64F 1/0299 (2020.01) 22 Claims
OG exemplary drawing
 
1. An end effector, comprising:
a first roller wheel configured to rotate in a first plane;
a second roller wheel configured to rotate in a second plane, wherein the second plane is non-parallel to the first plane; and
a third roller wheel, wherein the third roller wheel is configured to rotate in a third plane that is non-parallel to the first plane and the second plane, wherein the first roller wheel, the second roller wheel, and the third roller wheel are arranged with respect to one another such that the end effector is configured to automatically capture an object when a passive receptacle of the object contacts the first roller wheel, the second roller wheel, and the third roller wheel, wherein the end effector is further configured to selectively release the object from the first roller wheel, the second roller wheel, and the third roller wheel, and wherein the end effector is configured to automatically retain the object until the end effector is caused to selectively release the object.