End effectors with multi-axis roller wheels, systems including the same, and related methods

An end effector, comprising:

• a plurality of roller wheels, wherein the plurality of roller wheels comprises:
• a first roller wheel;
• a second roller wheel;
• a third roller wheel;
• and
• at least one or more additional roller wheels;
• a drive system configured to selectively rotate the plurality of roller wheels, wherein the drive system is configured such that each roller wheel of the plurality of roller wheels is selectively reversible between a first direction of rotation and a second, opposite, direction of rotation;
• and
• a support base configured to support the plurality of roller wheels such that the plurality of roller wheels are arranged with respect to one another such that the end effector is configured to automatically capture an object via rotation of the plurality of roller wheels when a passive receptacle of the object contacts the plurality of roller wheels, wherein 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, thereby pushing the passive receptacle away from the end effector, wherein the end effector is configured to automatically retain the object until the end effector is caused to selectively release the object, and wherein at least one roller wheel of the plurality of roller wheels is arranged 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 arranged.

An end effector, comprising:

• a first roller wheel configured to rotate in a first plane, wherein the first roller wheel is supported by a support element;
• a second roller wheel configured to rotate in a second plane, wherein the second plane is non-parallel to the first plane, and wherein the second roller wheel is supported by the support element;
• and
• a backstop supported by the support element, wherein the backstop is positioned to engage with an object when the object is captured by the first roller wheel and the second roller wheel, wherein the first roller wheel, the second roller wheel, and the backstop are arranged with respect to one another such that the end effector is configured to capture the object via the first roller wheel, the second roller wheel, and the backstop, wherein the first roller wheel, the second roller wheel, and the backstop are arranged with respect to one another such that a passive receptacle of the object is positioned about outer surfaces of the first roller wheel, the second roller wheel, and the backstop when the object is captured by the end effector, wherein the backstop comprises a lip configured to aid in retaining the passive receptacle on the end effector when the object is captured by the end effector, and wherein the end effector is further configured to selectively release the object from the first roller wheel, the second roller wheel, and the backstop.