A programmable motion system comprising: a programmable motion device that includes a robotic arm having an end effector; an exchange station comprising a rack that provides access to a plurality of acquisition units (72, 74, 76) within an area accessible by the programmable motion device; and coupling means for coupling any of the plurality of acquisition units to the end effector of the robotic arm such that any of the acquisition units are automatically selected from the exchange station and used by the robotic arm without requiring any activation or actuation by the exchange station and without requiring any intervention by a human, the coupling means comprising a plurality of magnets that are arranged at a distal end of the end effector, the distal end of the end effector being configured for insertion into an open metal end of any of the plurality of acquisition units (72, 74, 76), and the plurality of magnets providing a magnetic force for securing the open metal end of the acquisition unit of any of the plurality of acquisition units (72, 74, 76) to the distal end of the end effector, wherein each acquisition unit has a ferromagnetic portion, wherein the rack comprises curved portions for holding the plurality of acquisition units (72, 74, 76), and characterized in that the rack further comprising a plurality of magnets positioned on the curved portions for engaging the ferromagnetic portion of an acquisition unit, wherein the rack is coupled to a frame by a plurality of spring elements (114, 118) such that the rack is configured to move in an x direction and a y direction, the x direction and the y direction being mutually orthogonal directions, and wherein the frame is coupled to at least two anchors and the anchors slide along a vertical member within springs (126, 128) such that the frame is configured to move in a z direction, the z direction being mutually orthogonal to both the x direction and y direction, and wherein the programmable motion system includes a position zeroing system comprising an x-position zeroing system and a y-position zeroing system, each of the x-position zeroing system and the y-position zeroing system comprising an electromagnet (109, 111) that is selectively activated to draw the rack toward the electromagnet (109, 111) of the x-position zeroing system and y-position zeroing system, respectively, the position zeroing system further comprising a z-position zeroing system, the z position zeroing system comprising an electromagnet that is selectively activated to draw the frame toward the electromagnet of the z-position zeroing system. a programmable motion device that includes a robotic arm having an end effector; an exchange station comprising a rack that provides access to a plurality of acquisition units (72, 74, 76) within an area accessible by the programmable motion device; and coupling means for coupling any of the plurality of acquisition units to the end effector of the robotic arm such that any of the acquisition units are automatically selected from the exchange station and used by the robotic arm without requiring any activation or actuation by the exchange station and without requiring any intervention by a human, the coupling means comprising a plurality of magnets that are arranged at a distal end of the end effector, the distal end of the end effector being configured for insertion into an open metal end of any of the plurality of acquisition units (72, 74, 76), and the plurality of magnets providing a magnetic force for securing the open metal end of the acquisition unit of any of the plurality of acquisition units (72, 74, 76) to the distal end of the end effector, wherein each acquisition unit has a ferromagnetic portion, wherein the rack comprises curved portions for holding the plurality of acquisition units (72, 74, 76), and characterized in that the rack further comprising a plurality of magnets positioned on the curved portions for engaging the ferromagnetic portion of an acquisition unit, wherein the rack is coupled to a frame by a plurality of spring elements (114, 118) such that the rack is configured to move in an x direction and a y direction, the x direction and the y direction being mutually orthogonal directions, and wherein the frame is coupled to at least two anchors and the anchors slide along a vertical member within springs (126, 128) such that the frame is configured to move in a z direction, the z direction being mutually orthogonal to both the x direction and y direction, and wherein the programmable motion system includes a position zeroing system comprising an x-position zeroing system and a y-position zeroing system, each of the x-position zeroing system and the y-position zeroing system comprising an electromagnet (109, 111) that is selectively activated to draw the rack toward the electromagnet (109, 111) of the x-position zeroing system and y-position zeroing system, respectively, the position zeroing system further comprising a z-position zeroing system, the z position zeroing system comprising an electromagnet that is selectively activated to draw the frame toward the electromagnet of the z-position zeroing system.