Systems and methods for efficiently moving a variety of objects

A programmable motion system comprising:

• a programmable motion device that includes a robotic arm, the robotic arm having a robotic arm coupling to connect any one of a plurality of detachable end-effectors, the robotic arm having an operational reach;
• a vacuum supply provided to the robotic arm coupling;
• a rack comprising a plurality of detachable vacuum end-effectors, the rack positioned within the operational reach;
• each of the plurality of detachable vacuum end-effectors having a vacuum cup and a coupling mechanism with an open interior for the flow of vacuum therethrough, the coupling mechanism adapted to mate to the robotic arm coupling using a magnetic force provided by at least one magnet on at least one of the robotic arm coupling and the coupling mechanism of a selected one of the plurality of detachable vacuum end effectors;
• the programmable motion device instructed to attach the selected one of the plurality of detachable vacuum end effectors from the rack by positioning the robotic arm coupling proximate the selected one of the plurality of detachable vacuum end effectors using the magnetic force between the robotic arm coupling and the coupling mechanism;
• the programmable motion device instructed to subsequently position the vacuum cup of the selected one of the plurality of vacuum end-effectors to grasp an object using the vacuum supply to provide a vacuum force between the object and the vacuum cup;
• and
• the programmable motion device providing a lifting force to lift the object using the robotic arm with the selected one of the plurality of vacuum end effectors attached thereto, wherein the magnetic force is less than the lifting force.

A programmable motion system comprising:

• a programmable motion device including a robotic arm, the robotic arm having a robotic arm coupling at a distal end;
• a vacuum supply;
• a vacuum end-effector for the robotic arm comprising:
• a central body having an open interior;
• a vacuum cup at a first end of the central body;
• a coupling mechanism at a second end of the central body, at least one of the robotic arm coupling and the coupling mechanism including a magnet such that the magnetic coupling attaches to the robotic arm coupling with a magnetic attachment force;
• the vacuum supply providing a vacuum force at the vacuum cup when an object is grasped thereto, the magnetic attachment force being less than the vacuum force.

A method of providing the processing of objects, said method comprising:

• providing a plurality of vacuum cup end-effectors on an acquisition unit rack, each vacuum cup end-effector of the plurality of vacuum cup end-effectors capable of being attached to a distal end of a robotic arm with a vacuum supply provided thereto;
• selecting one of the plurality of vacuum cup end-effectors provided on the acquisition unit rack;
• coupling the selected vacuum cup end-effectors to the distal end of the robotic arm using a magnetic force between the selected vacuum cup and the robotic arm;
• and
• grasping the object with the selected vacuum cup end-effector using the vacuum supply and applying a lifting force by the robotic arm, wherein the magnetic force is less than the lifting force.