Patent Publication Number: US-2020290200-A1

Title: Systems and methods for acquiring and moving objects having complex outer surfaces

Description:
PRIORITY 
     The present application is a continuation of U.S. patent application Ser. No. 16/052,111, filed Aug. 1, 2018, which claims priority to U.S. Provisional Patent Application Ser. No. 62/540,355 filed Aug. 2, 2017, the disclosures of which are hereby incorporated by reference in their entireties. 
    
    
     BACKGROUND 
     The invention generally relates to programmable motion systems and relates in particular to end effectors for programmable motion devices (e.g., robotic systems) for use in object processing such as object sortation or order fulfillment. 
     End effectors for robotic systems, for example, may be employed in certain applications to select and grasp an object, and then move the acquired object very quickly to a new location. End effectors that are designed to very securely grasp an object during movement may have limitations regarding how quickly and easily they may select and grasp an object from a jumble of dissimilar objects. Conversely, end effectors that may quickly and easily grasp a selected object from a jumble of objects (either similar or dissimilar objects) may have limitations regarding how securely they may grasp an acquired object during rapid movement, particularly rapid acceleration and deceleration (both angular and linear). 
     Many end effectors employ vacuum pressure for acquiring and securing objects for transport or subsequent operations by articulated arms. Other techniques for acquiring and securing objects employ electrostatic attraction, magnetic attraction, needles for penetrating objects such as fabrics, fingers that squeeze an object, hooks that engage and lift a protruding feature of an object, and collets that expand in an opening of an object, among other techniques. Typically, end effectors are designed as a single tool, such as for example, a gripper, a welder, or a paint spray head, and the tool is typically designed for a specific set of needs. 
     While many objects may include outer surfaces that are easily grasped by traditional end effectors, certain objects present difficulties for traditional end effectors. In shipping distribution systems, for example, many objects to be processed are provided as bags, e.g., polyethylene bags, that contain the item to be shipped. The bags present an outer surface that is soft and flexible, and that moves during a grasp attempt, which presents unique challenges to grasp planning systems. 
     There remains a need therefore, for an end effector in a programmable motion system that may select and grasp an object, and then move the acquired object very quickly to a new location, and further a need for an end effector that may consistently and reliably grasp objects that include unpredictable outer surfaces such as polyethylene bags. 
     SUMMARY 
     In accordance with an embodiment the invention provides an end effector for use with a programmable motion device. The end effector includes a pair of mutually opposing surfaces, at least one of the pair of mutually opposing surfaces being movable with respect to an end effector support structure for supporting the at least one of the pair of mutually opposing surfaces. 
     In accordance with another embodiment the invention provides an end effector for use with a programmable motion device. The end effector includes a pair of mutually opposing surfaces, at least one of the pair of mutually opposing surfaces being movable with respect to another of the pair of mutually opposing surfaces 
     In accordance with a further embodiment the invention provides a method of grasping an object using an end effector of a programmable motion device. The method includes the steps of engaging the object with a pair of mutually opposing surfaces, and moving at least one of the pair of mutually opposing surfaces with respect to an end effector support structure for supporting the at least one of the pair of mutually opposing surfaces. 
     In accordance with yet a further embodiment the invention provides a method of grasping an object using an end effector of a programmable motion device. The method includes the steps of engaging the object with a pair of mutually opposing surfaces, and moving at least one of the pair of mutually opposing surfaces with respect to another of the pair of mutually opposing surfaces. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The following description may be further understood with reference to the accompanying drawings in which: 
         FIG. 1  shows an illustrative diagrammatic view of a programmable motion system with an end effector in accordance with an embodiment of the present invention; 
         FIG. 2  shows an illustrative diagrammatic view of the end effector of  FIG. 1 ; 
         FIG. 3  shows an illustrative diagrammatic front view of end effector of  FIG. 2 ; 
         FIG. 4  shows an illustrative diagrammatic side view of the end effector of  FIG. 2 ; 
         FIG. 5  shows an illustrative diagrammatic rear view of the end effector of  FIG. 2 ; 
         FIG. 6  shows an illustrative diagrammatic front view of the end effector of  FIG. 2  contacting an object; 
         FIG. 7  shows an illustrative diagrammatic front view of the end effector of  FIG. 6  engaging the object; 
         FIG. 8  shows an illustrative diagrammatic view of an end effector in accordance with another embodiment of the present invention; 
         FIG. 9  shows an illustrative diagrammatic side view of the end effector of  FIG. 8 ; 
         FIG. 10  shows an illustrative diagrammatic side view of the end effector of  FIG. 8  beginning to engage an object; 
         FIG. 11  shows an illustrative diagrammatic side view of the end effector of  FIG. 10  fully engaging an object; 
         FIG. 12  shows an illustrative diagrammatic view of an end effector in accordance with another embodiment of the present invention; 
         FIG. 13  shows an illustrative diagrammatic side view of the end effector of  FIG. 12 ; 
         FIG. 14  shows an illustrative diagrammatic side view of the end effector of  FIG. 10  beginning to engage an object; 
         FIG. 15  shows an illustrative diagrammatic side view of the end effector of  FIG. 10  fully engaging an object; 
         FIG. 16A-16C  show illustrative diagrammatic bottom views of an end effector in accordance with further embodiments of the present invention where the rollers are variable spaced from one another; 
         FIG. 17  shows an illustrative diagrammatic bottom view of an end effector in accordance with another embodiment of the invention including variable diameter rollers that provide variable sized openings; 
         FIG. 18  shows an illustrative diagrammatic bottom view of an end effector in accordance with another embodiment of the invention including variable diameter rollers that are uniformly spaced from one another; 
         FIG. 19  shows an illustrative diagrammatic bottom view of an end effector in accordance with another embodiment of the invention including variable diameter rollers that are interleaved; 
         FIG. 20  shows an illustrative diagrammatic bottom view of an end effector in accordance with another embodiment of the invention including variable diameter rollers that provide a variable sized opening that is largest in the middle; 
         FIG. 21  shows an illustrative diagrammatic bottom view of an end effector in accordance with another embodiment of the invention including variable diameter rollers that provide a variable sized opening that is largest at the ends; 
         FIGS. 22A and 22B  show illustrative diagrammatic front views of an end effector employing cam rollers in an open position ( FIG. 22A ) and a closed position ( FIG. 22B ); 
         FIGS. 23A and 23B  show illustrative diagrammatic front views of an end effector employing axially offset rollers in an open position ( FIG. 23A ) and a closed position ( FIG. 23B ); 
         FIGS. 24A and 24B  show illustrative diagrammatic front views of an end effector employing expandable rollers in an open position ( FIG. 24A ) and a closed position ( FIG. 24B ); 
         FIG. 25  shows an illustrative diagrammatic view of an end effector in accordance with an embodiment that includes rollers with attraction features; 
         FIG. 26  shows an illustrative diagrammatic side elevation view of a roller of  FIG. 25 , where the attraction features include nubs; 
         FIG. 27  shows an illustrative diagrammatic top view of the roller of  FIG. 26 ; 
         FIG. 28  shows an illustrative diagrammatic elevation view of a roller of  FIG. 25 , where the attraction features include suction cups; 
         FIG. 29  shows an illustrative diagrammatic top view of the roller of  FIG. 28 ; 
         FIG. 30  shows an illustrative diagrammatic elevation view of a roller of  FIG. 25 , where the attraction features include vacuum ports; 
         FIG. 31  shows an illustrative diagrammatic top view of the roller of  FIG. 30 ; 
         FIG. 32  shows an illustrative diagrammatic view of an end effector in accordance with another embodiment of the present invention that includes rollers with an applied static charge; 
         FIG. 33  shows an illustrative diagrammatic view of an end effector in accordance with another embodiment of the present invention that includes rollers with a material that is chemically attracted to polyurethane; 
         FIG. 34  shows an illustrative diagrammatic view of a programmable motion system with an end effector in accordance with another embodiment of the present invention that includes a set of rollers mounted in a frame; 
         FIG. 35  shows an illustrative diagrammatic view of the end effector of  FIG. 34 ; 
         FIG. 36  shows an illustrative diagrammatic view of the end effector of  FIG. 35  with the articulated arm removed for clarity; 
         FIG. 37  shows an illustrative diagrammatic view of the end effector of  FIG. 36  contacting an object; 
         FIG. 38  shows an illustrative diagrammatic view of the end effector of  FIG. 37  beginning to engage the object; 
         FIG. 39  shows an illustrative diagrammatic view of the end effector of  FIG. 37  fully engaging the object; 
         FIG. 40  shows an illustrative diagrammatic view of an end effector in accordance with another embodiment of the present invention where both rollers are linearly actuatable; 
         FIG. 41  shows an illustrative diagrammatic view of an end effector in accordance with another embodiment of the present invention where both rollers are offset from an underside of the support frame; 
         FIG. 42  shows an illustrative diagrammatic bottom view of the end effector of  FIG. 41 ; 
         FIG. 43  shows an illustrative diagrammatic view of an end effector similar to that shown in  FIG. 41  that includes spring biasing elements; 
         FIG. 44  shows an illustrative diagrammatic bottom view of the end effector of  FIG. 43 ; 
         FIGS. 45A and 45B  show illustrative diagrammatic views of an end effector in accordance with another embodiment of the present invention that includes rollers on independent frames in the open position (shown in  FIG. 45A ) and the closed position ( FIG. 45B ); 
         FIG. 46  shows an illustrative diagrammatic view of a programmable motion system with two opposing end effectors in accordance with another embodiment of the present invention; 
         FIG. 47  shows an illustrative diagrammatic view of a programmable motion system with two adjacent end effectors in accordance with another embodiment of the present invention; 
         FIGS. 48A and 48B  show illustrative diagrammatic views of an end effector in accordance with another embodiment of the present invention that includes rollers on multi-axis shafts in the open position ( FIG. 48A ) and in the closed position ( FIG. 48B ); 
         FIGS. 49A and 49B  show illustrative diagrammatic views of an end effector in accordance with another embodiment of the present invention that includes rollers or spheres that are linearly movable toward and away from each other in the open position ( FIG. 49A ) and in the closed position ( FIG. 49B ); 
         FIGS. 50A and 50B  show illustrative diagrammatic views of an end effector in accordance with another embodiment of the present invention that includes rollers or spheres that are rotatably movable toward and away from each other in the open position ( FIG. 50A ) and in the closed position ( FIG. 50B ); 
         FIGS. 51A and 51B  show illustrative diagrammatic views of an end effector in accordance with another embodiment of the present invention that includes rollers or spheres that are directly linearly movable toward and away from each other in the open position ( FIG. 51A ) and in the closed position ( FIG. 51B ); 
         FIGS. 52A, 52B, and 52C  show illustrative diagrammatic views of an end effector in accordance with another embodiment of the present invention that includes a pair of belts in the open position ( FIG. 52A ), and may include comb-like fingers that can spread apart, e.g., for grasping an object ( FIG. 52B  and  FIG. 52C ); 
         FIGS. 53A and 53B  show illustrative diagrammatic views of an end effector in accordance with another embodiment of the present invention that includes a pair of grippers on linkages in the open position ( FIG. 53A ) and in the closed position ( FIG. 53B ); 
         FIGS. 54A and 54B  show illustrative diagrammatic views of an end effector in accordance with another embodiment of the present invention that includes a pair of racks that engage pinion gears in the open position ( FIG. 54A ) and in the closed position ( FIG. 54B ); 
         FIGS. 55A and 55B  show illustrative diagrammatic views of an end effector in accordance with another embodiment of the present invention that includes pinion gears and a tensioning mechanism in the open position ( FIG. 55A ) and in the closed position ( FIG. 55B ); and 
         FIGS. 56A and 56B  show illustrative diagrammatic views of an end effector in accordance with another embodiment of the present invention that includes pinion gears and a dual tensioning mechanism in the open position ( FIG. 56A ) and in the closed position ( FIG. 56B ). 
     
    
    
     The drawings are shown for illustrative purposes only and are not necessarily to scale. 
     DETAILED DESCRIPTION 
     In accordance with various embodiments, systems of the invention may vary in shape, size, dimensions, weight, proportions, and design to accommodate different applications and/or to be tailored to various design constraints such as size, weight and fabrication materials. 
     In accordance with an embodiment, the invention provides an end effector for use with a programmable motion device. The end effector includes a pair of mutually opposing surfaces, at least one of the pair of mutually opposing surfaces being movable with respect to an end effector support structure for supporting the at least one of the pair of mutually opposing surfaces. In accordance with another embodiment, the at least one of the pair of mutually opposing surfaces is actuatable to roll with respect to the other of the mutually opposing surfaces. In a further embodiment, the at least one of the pair of mutually opposing surfaces is actuatable to move toward or away from the other of the pair of mutually opposing surfaces, and in further embodiments, the movement may be caused by linear movement or angular movement, and in further embodiments, the surfaces may be provided by a pair of rollers, a pair of spheres or a pair of belts. 
       FIG. 1 , for example, shows a programmable motion device  10  (e.g., an articulated arm or a robotic system), that includes an end effector  12  attached to an end effector coupling unit  18 , as well as a base  14  and a controller  16  that may be connected to the programmable motion device by wireless or wired communication. In certain embodiments for example, the controller  16  may be located within the base section  14 . The programmable motion device may be employed for the processing of objects, such as for example, for sorting objects or for packaging objects into shipment packages. The programmable motion device may further be in communication with an order shipment fulfillment facility in which orders are parsed, items are collected, and items are prepared for shipment. 
     The end effector  12  is further shown in  FIG. 2 , where the end effector  12  is shown attached to the section  18  by way of support structure  20  that attaches to the section  18  and supports a pair of rollers  22 ,  24 . Each of the rollers  22 ,  24  is mounted on one of two axes, as shown in  FIG. 3  (which shows a front view of the end effector  12  attached to the section  18 ), the rollers  22 ,  24  are adjacent one another, and are each powered by a motor. The rollers  22 ,  24  may be formed, for example, of polyurethane. 
       FIG. 4  shows a side view of the end effector of  FIG. 3 , also showing a motor  26  for actuating the roller  24  to roll in either direction. The roller actuation may be provided to each roller, and may be bi-directional. In particular, the roller  22  may be provided with a similar motor  28  for causing the roller  22  to be rotated in either direction as shown in  FIG. 5 . The motors  26 ,  28  may be controlled by either wireless or wired communication. In certain embodiments, the motors may be actuated together, or may be moved in dependent of each other. In further embodiments, one motor may be used to actuate only one of the rollers, or one motor may be used to actuate both motors through a gearing linkage. 
     As shown in  FIG. 6 , the rollers  22 ,  24  of the end effector  12  may engage an object  30  (such as a polyethylene shipping bag) having an irregular and pliant surface  32 . With reference to  FIG. 7 , when one or more of the rollers  22 ,  24  is/are actuated to roll as shown, a portion  34  of the bag is drawn up between the rollers. The object  30  may then be moved to a different location by the end effector, whereupon the one or more rollers  22 ,  24  may be rolled in the opposite direction to release the object  30 . 
       FIGS. 8 and 9  show an end effector  40  in accordance with another embodiment of the present invention that includes support structure  42  for attachment to a section  48  of a programmable motion device, as well as rollers  44  and  46  (again, for example made of polyurethane). The end effector  40  also includes a vacuum line  50  that provides vacuum to portions  52  of the rollers  44 ,  46  that include areas of reduced radii of the rollers  44 ,  46 . In particular, the vacuum is provided between the rollers  44 ,  46  to facilitate the grasping of an object.  FIGS. 10 and 11 , for example, show the end effector  40  engaging an object  56  (shown in  FIG. 10 ), and then actuating one or more motors  54  (similar to motors  22 ,  24 ) to grasp the object  56  by drawing a portion  58  of the outer surface of the object between the rollers  44 ,  46  (shown in  FIG. 11 ). 
       FIGS. 12 and 13  show an end effector  41  in accordance with a further embodiment of the present invention that includes support structure  42  for attachment to a section  48  of a programmable motion device, as well as rollers  44  and  46  (again, for example made of polyurethane). The end effector  41  also includes a vacuum line  51  that provide a wider area of vacuum to the rollers  44 ,  46 , including areas of reduced radii of the rollers  44 ,  46 . In particular, the vacuum is provided between the rollers  44 ,  46  to facilitate the grasping of an object.  FIGS. 14 and 15  show the end effector  41  engaging an object  56  (shown in  FIG. 14 ), and then actuating one or more motors  54  (similar to motors  22 ,  24 ) to grasp the object  56  by drawing a portion  58  of the outer surface of the object between the rollers  44 ,  46  (shown in  FIG. 15 ). 
       FIGS. 16A, 16B, and 16C  show end effector portions in accordance with further embodiments of the invention that provide different distances between the rollers (again, for example made of polyurethane). For example,  FIG. 16A  shows an end effector  60  that includes support structure  62  as well as motors  64  for actuating rollers  66 ,  68 . The rollers  66 ,  68  are provided with little or no space between the sides of the rollers.  FIG. 16B  shows an end effector  70  that includes support structure  72  as well as motors  74  for actuating rollers  76 ,  78 . The rollers  76 ,  78  are provided with a small distance d 1  (e.g., 2 mm to 5 mm) between the sides of the rollers.  FIG. 16C  shows an end effector  80  that includes support structure  82  as well as motors  84  for actuating rollers  86 ,  88 . The rollers  86 ,  88  are provided with a small distance d 2  (e.g., 0.65 cm to 2 cm) between the sides of the rollers. 
       FIGS. 17-19  show embodiments of end effectors that include rollers having stepped bi-radius rollers (again, for example made of polyurethane). In particular,  FIG. 17  shows an end effector  90  that includes support structure  92  as well as motors  94  for actuating rollers  96 ,  98 . The rollers  96 ,  98  are provided with radially recessed sections  100 ,  102  for providing stepped bi-radius rollers wherein the recessed portions of the rollers align with one another. During use, either the area  101  between the recessed portions or the small area between the outer radius portions of the rollers may be used to engage an object such as a bag. 
       FIG. 18  shows an end effector  110  that includes support structure  112  as well as motors  114  for actuating rollers  116 ,  118 . The rollers  116 ,  118  are provided with radially recessed sections  120 ,  122  for providing stepped bi-radius rollers wherein the recessed portions of the rollers do not align with one another. During use, the stepped area  124  between the rollers may be used to engage an object such as a bag. 
       FIG. 19  shows an end effector  130  that includes support structure  132  as well as motors  134  for actuating rollers  136 ,  138 . The rollers  136 ,  138  are provided with radially recessed sections  140 ,  142  for providing stepped bi-radius rollers wherein the recessed portions of the rollers do not align with one another. During use, the stepped area  144  area between the rollers may be used to engage an object such as a bag. The stepped area  144  is smaller than that of the area  124  of  FIG. 18  because the stepped regions of the rollers  136 ,  138  fit within one another as shown. 
       FIG. 20  shows an end effector  150  that includes support structure  152  as well as motors  154  for actuating rollers  156 ,  158  (again, for example made of polyurethane). The rollers  156 ,  158  are provided with radially recessed sections  160 ,  162  for providing a continuous area between the rollers that is largest at the center of the rollers as shown. During use, the area between the recessed portions  160 ,  162  may be used to engage an object such as a bag. 
       FIG. 21  shows an end effector  170  that includes support structure  172  as well as motors  174  for actuating rollers  176 ,  178  (again, for example made of polyurethane). The rollers  176 ,  178  are provided with radially recessed sections  180 ,  182  for providing a continuous area between the rollers that is smallest at the center of the rollers as shown. During use, the area between the recessed portions  180 ,  182  may be used to engage an object such as a bag. The embodiments of  FIGS. 20 and 21  provide that portions of the rollers that have a variety of distances between the rollers, are provided to contact the object. The facilitates the grasping of objects wherein specific distances of a gap are better suited for engaging the outer surface of the object, due in part, to the thickness of the outer (bag) surface as well as the stiffness of the outer (bag) surface. 
       FIGS. 22A and 22B  show end views of a pair of rollers  190 ,  192  (again, for example made of polyurethane) that each include a cam portion  194 ,  196  such that as each roller rotates, the cam portions  194 ,  196  are urged toward each other as shown in  FIG. 22B . The use of the cam portions takes advantage of the fact that the rollers may need to be rotated only over a limited rotational range. 
       FIGS. 23A and 23B  show end views of a pair of rollers  200 ,  202  (again, for example made of polyurethane) that are provided on axles  204 ,  206  that are not central to each roller. This provides that as each roller rotates, larger radius portions  208 ,  210  of the rollers  200 ,  202  are urged toward each other as shown in  FIG. 23B . Again, the use of the larger radius portions also takes advantage of the fact that the rollers may need to be rotated only over a limited rotational range. 
       FIGS. 24A and 24B  show end views of a pair of rollers  220 ,  222  (for example made of a flexible rubber material) that are provided on axles  224 ,  226  that are central to each roller. The rollers are formed of inflatable material, and may be inflated or deflated to change the radius (diameter of each of the rollers). This provides that as each roller rotates, its radius may be increased such that the rollers  220 ,  222  are urged toward each other as shown in  FIG. 24B . The rollers  220 ,  222  may be inflated/deflated by actuation of valves that are coupled near the motors, and the rollers may be actuatable over a limited rotational range. The grasping and releasing of an object may be provided by any combination of rotation and inflation/deflation of the rollers. 
       FIG. 25  shows a pair of rollers  230 ,  232  (again, for example made of polyurethane) for use in an end effector of an embodiment that include grasp features  234  on the outer surface of the rollers  230 ,  232 . With reference to  FIGS. 26 and 27 , the grasp features may be raised relief features  236  on the roller. With reference to  FIGS. 28 and 29 , the grasp features may be small cone—shaped protrusions  238  that provide a mild suction feature. With reference to  FIGS. 30 and 31 , the grasp features may include openings  240  that lead to one or more conduits  242  in the material of the roller through which a vacuum may be provided to the openings  240 . During use, the grasp features (e.g.,  236 ,  238 ,  240 ) may facilitate the rollers in drawing a portion of a bag up between the rollers. 
       FIG. 32  shows a pair of rollers  250 ,  252  (again, for example made of polyurethane) for use in an end effector of an embodiment that are provided with a high electron charge that is maintained by electron charge distribution brushes  254 . The high electron charge makes the rollers particularly attractive to certain types of bags such as polyurethane and polyethylene bags. Optionally, the brushes  254  may be provided to selectively distribute positive charge to the rollers in order to attract other types of objects to the rollers. In either event, the object may be released by either discharging (grounding) the rollers and/or mechanically urging the object from the rollers.  FIG. 33  shows a pair of rollers  260 ,  262  for use in an end effector of an embodiment that include an outer surface made of a polyurethane-philic material such as a compatible plastic or by providing a coating of silicone or oxygen-based plasma. 
     In accordance with further embodiments, and with reference to  FIG. 34 , the invention provides an end effector  270  for use in connection with a programmable motion device  272  such as an articulated arm. The articulated arm may include a controller in its base  274 , or may be coupled to a controller  276  via wireless communication. As further shown in  FIG. 35 , the end effector  270  may be attached to an outer section  278  of the articulated arm, and may include a set of rollers  280 ,  282  mounted in a frame  284 . A control drive mechanism  286  is also provided to actuate one or both of the rollers. As further shown in  FIG. 36 , (without the mounting hardware for clarity), the rollers  280 ,  282  may be mounted on tracks  288  for automated movement toward or away from each other.  FIG. 37  shows the end effector  270  coming into contact with a bag  290 . As shown, the end effector  270  contacts the bag, which may move when contacted. The rollers may be formed, for example, of polyurethane. 
     As shown in  FIG. 38 , while the end effector  270  is in contact with the bag  290 , the rollers  280 ,  282  may be moved toward each other, and when they are moved, a portion  292  of the bag may be gathered between the rollers. As shown in  FIG. 39 , one or both of the rollers is then rotated to grasp a larger portion  292  of the bag  290  between the rollers. The bag, as shown grasped in  FIG. 39 , is then ready for transport. The rollers may be rotated in the opposite direction and/or move away from each other to release the object (e.g., the bag). 
     With reference to  FIG. 40 , an end effector  300  in accordance with a further embodiment may include a pair of rollers  302 ,  304  (again, for example made of polyurethane), as well as drive mechanisms  306 ,  308  (providing rotation and translation) on both ends of the rollers  302 ,  304 . This may provide better power as well as control of roller position along the full length of the rollers  302 ,  304 . The embodiment of  FIGS. 34-39  therefore, may include a pair of drive mechanisms. In various embodiments disclosed herein, either or both of the rollers may be controllable with regard to angle, speed and/or torque. 
       FIG. 41  shows an end effector  310  in accordance with a further embodiment of the present invention that includes a pair of rollers  312 ,  314  (again, for example made of polyurethane) that are mounted on shafts  316 ,  318  on the underside of the support frame  320 , and are driven (translation and rotation) by motor controllers  322 ,  324 .  FIG. 42  shows an underside of the end effector  310 . The shafts  316 ,  318  are attached to the underside of the frame  320  by way of movable mounts  326 ,  328  that are also able to be moved along tracks  330 ,  332  to provide the translational and rotation movement of the rollers  312 ,  314  as driven by drive mechanisms  326 ,  328 . The embodiment of  FIGS. 41 and 42  provides that the rollers  312 ,  314  may be disposed further away from the distal surface of the frame  320  to facilitate engagement with objects (e.g., bags). Additionally, the rollers  312 ,  314  may be smaller in size and not span the internal distance of the frame  320 . The end effector  310  is operated as discussed above with reference to the embodiments shown in  FIGS. 34-40 . 
       FIGS. 43 and 44  show an end effector  340  that is similar to the end effector  310  of  FIGS. 41 and 42  except that the end effector  340  includes a roller axle biasing mechanism that includes, for example, two springs  342 ,  344 , each fastened between a pair of collars  346 ,  348  around axles  316 ,  318  of the rollers  312 ,  314 . The biasing mechanism urges the two rollers together, although the drive mechanisms  326 ,  328  may also be employed to draw the rollers apart from one another. 
       FIGS. 45A and 45B  show an end effector  350  in accordance with a further embodiment of the present invention that includes a pair of rollers  352 ,  354  mounted on separate frames  356 ,  358 , wherein each frame  356 ,  358  may be coupled to an arm  360 ,  362 , and the arms  360 ,  362  may be attached to either a common (the same) programmable motion device, or may be attached to different programmable motion devices. During use, the programmable motion device(s) are employed to gather a portion of a bag between the rollers  352 ,  354  as discussed above. 
       FIG. 46  shows an embodiment of a system  380  in accordance with a further embodiment of the present invention that includes many features common to the embodiment shown in  FIG. 34 , except that the end effector  370  and associated outer section  378  are part of a larger end effector section  382  (of a programmable motion device  380 ) that also includes a second outer section  384  on which is attached at an opposing end thereof a second end effector  386  (e.g., a suction based end effector). During use, the programmable motion device  380  may elect to use either the end effector  370  or the end effector  386  depending on the object to be processed. 
       FIG. 47  shows an embodiment of a system  390  in accordance with a further embodiment of the present invention that includes a pair of end effectors  12  and  386  attached to a common end of a section  388 . The end effector  12  may be as described above with respect to  FIGS. 1-7 , and the end effector  386  may be as describe above with respect to  FIG. 46 . Again, during use the programmable motion device  390  may elect to use either the end effector  12  or the end effector  386  depending on the object to be processed. 
       FIGS. 48A and 48B  show an end effector  400  in accordance with a further embodiment of the present invention that includes a pair of rollers  402 ,  404  (again, for example made of polyurethane) that are fixed onto roller shafts  406 ,  408 . As shown in  FIG. 48B , when the roller shafts  406 ,  408  are rotated, the rollers  402 ,  404  are urged toward each other. In accordance with a preferred embodiment, the rollers  402 ,  404  are fixed to the shafts  406 ,  408  such that the rollers rotate with the shafts, causing any engaged object bag to become entrained with the rollers  402 ,  404 . The rotational movement of the rollers  402 ,  404  may be provided by actuation mechanisms  410 ,  412 . 
       FIG. 49A  shows portions of an end effector  420  in accordance with a further embodiment of the present invention that includes a pair of rollers or spheres  422 ,  424  (again, for example made of polyurethane) that are attached to rods (in the case of spheres) or plates  426 ,  428 . Upon rotation of drivers  430  and  432 , the rods or plates  426 ,  428  are caused to be linearly moved up or down. For example, when drivers  430  are rotated clockwise and drivers  432  are rotated counter-clockwise (as shown in  FIG. 49B ), the rods or plates  426 ,  428  together with the pair of spheres or rollers  422 ,  424  are linearly moved upward into contact with one another. When this happens the spheres or rollers  422 ,  424  may grasp an object such as a bag between the spheres or rollers  422 ,  424 . 
       FIG. 50A  shows portions of an end effector  440  in accordance with a further embodiment of the present invention that includes a pair of rollers or spheres  442 ,  444  (again, for example made of polyurethane) that are attached to rods (in the case of spheres) or plates  446 ,  448 . Upon rotation of a rotational actuator  450 , the rods or plates  446 ,  448  are drawn toward each other together with the spheres or rollers  442 ,  444 , and when this happens, the spheres or rollers  442 ,  444  may grasp an object such as a bag between the spheres or rollers  442 ,  444  as shown in  FIG. 50B . 
       FIG. 51A  shows portions of an end effector  460  in accordance with a further embodiment of the present invention that includes a pair of rollers or spheres  462 ,  464  (again, for example made of polyurethane) that are attached to rods (in the case of spheres) or plates  466 ,  468 . Upon linear movement of actuators  470 ,  472 , the rods or plates  466 ,  468  are drawn toward each other together with the spheres or rollers  462 ,  464 , and when this happens, the spheres or rollers  462 ,  464  may grasp an object such as a bag between the spheres or rollers  462 ,  464  as shown in  FIG. 51B . 
       FIG. 52A  shows a portion of an end effector  480  in accordance with another embodiment of the invention that includes a pair of belts  482 ,  484  for providing a pair of mutually opposing surfaces. The belts  482 ,  484  are provided around drive and follower units  486 ,  488 , and objects may be grasped an drawn up between the belts in the area near the units  488 . As further shown in  FIG. 52B , the belts may include very small comb-like fingers  490  that become spread apart when the belt is moved around the units  488  (as shown in  FIG. 52C ) when grasping an object (such as a bag) to facilitated engagement with the object. 
       FIG. 53A  shows a portion of an end effector  500  in accordance with another embodiment of the invention that includes a pair of grippers  502 ,  504  that provide a pair of mutually opposing surfaces  506 ,  508 . The grippers  502 ,  504  are attached to two set of bar linkages  510 ,  512  that, when actuated (as shown in  FIG. 53B ), cause the grippers to come together such that the surfaces  506 ,  508  come close to or into contact with one another. When this occurs, the grippers may be used to grasp an object. In particular, the grippers may be placed onto an object such as a bag in the position as shown in  FIG. 53A . When the bar linkages  510 ,  512  are actuated as shown in  FIG. 53B , the grippers may grasp the bag and draw up a portion of the bag between the opposing surfaces  506 ,  508 . 
       FIGS. 54A and 54B  show a portion of an end effector  520  in accordance with another embodiment of the invention that includes a pair of rollers  522 ,  524  (again, for example made of polyurethane). The rollers each include a set of pinion gears  526 ,  528  that mate with a pair of racks  530 ,  532  (attached to support structure  534 ,  536  from which the rollers  522 ,  524  are suspended. By use of the rack and pinion gears, the rollers  522 ,  524  may be moved toward and away from each other, and may thereby grasp an object between the rollers  522 ,  524  as discussed above. 
       FIGS. 55A and 55B  show portions of an end effector  540  that includes rollers  542 ,  544 , each of which includes a pinion gear  546 ,  548  for engaging rack sections  550 ,  552  mounted within a frame  564 . The rollers  542 ,  544  (again, for example made of polyurethane) are maintained in an urged upward position by spring mechanisms  552 ,  554 . Movement of the rollers  542 ,  544  is controlled by actuation of rotator actuators  560 ,  562  that by way of tension mechanisms  556 ,  558  that draw the rollers  542 ,  544  up along the rack and pinion ( 546 ,  548 ,  550 ,  552 ) mechanisms as shown in  FIG. 55B . 
       FIGS. 56A and 56B  show portions of an end effector  570  similar to the end effector  540  of  FIGS. 55A and 55B  except that the frame  594  is flexible and includes additional spring mechanisms  600 ,  602  that urge the frame walls (and the rollers  572 ,  574  toward each other. The rollers  572 ,  574  each include a pinion gear  576 ,  578  for engaging rack sections  580 ,  582  mounted within the frame  594 . The rollers  572 ,  574  (again, for example made of polyurethane) are maintained in an urged upward position by spring mechanisms  584 ,  586 . Movement of the rollers  572 ,  574  is controlled by actuation of rotator actuators  590 ,  592  that by way of tension mechanisms  596 ,  598  that draw the rollers  572 ,  574  up along the rack and pinion ( 576 ,  578 ,  580 ,  582 ) mechanisms as shown in  FIG. 56B . 
     Those skilled in the art will appreciate that numerous modification and variations may be made to the above disclosed embodiments without departing from the spirit and scope of the present invention.