Robotic systems, methods, and devices for grappling and actuating a payload

A robotic end effector device having an arm interfacing end including a robotic arm interface for connecting to a robotic arm and a payload interfacing end for interfacing with a payload, the payload having a grapple fixture which includes a first coupling element mounted to a surface of the payload and a grapple probe, the device comprising:

• a housing for enclosing an interior compartment of the end effector device;
• a second coupling element that is connected to the housing at the payload interfacing end for mating with the first coupling element during rigidization of the end effector to the payload, the second coupling element having an opening therethrough to enable the grapple probe of the grapple fixture to enter the interior compartment as the payload interfacing end is moved towards the grapple fixture by the robotic arm;
• a grapple mechanism disposed in the interior compartment for capturing and rigidizing the payload to the end effector device through the grapple fixture, the grapple mechanism comprising:
• a jaw assembly including jaws for grappling the grapple probe;
• a payload present sensor for sensing that the grapple probe is in a position to be grappled by the jaws (“grappling position”);
• a moving component for translating along a capture axis of the grapple mechanism in a direction opposite the payload interfacing end (“retraction”) to bring the first coupling element and the second coupling element into mating connection while the jaws are grappling the grapple probe to rigidize the end effector to the payload to a target preload, the moving component including the jaw assembly, and wherein the retraction of the moving component closes the jaws to grapple the grapple probe;
• a translation mechanism for retracting the moving component along the capture axis;
• a motor for driving the translation mechanism, the motor triggered to drive the translation mechanism in response to the payload present sensor sensing the grapple probe in the grappling position;
• a calibration sensor for sensing that the moving component has retracted from a calibration position;
• and
• a position monitoring device for monitoring a position of the moving component relative to the calibration position and generating an output to stop retraction of the moving component when the moving component has reached a target preload position along the capture axis that achieves the target preload.