Abstract: An apparatus for retaining a fastener is described. The apparatus includes a base, including a first aperture including a central axis; and a sidewall extending outward from the base and surrounding the central axis, where the sidewall is configured to hold on to a socket; an arm extending outward from the base, including a biasing mechanism connecting a first end of the arm to the base, where the biasing mechanism configured to relieve stress between the base and the arm when the arm is actuated; and a lip disposed at a second end of the arm, where the second end is at an opposite end of the arm than the first end, and where the lip is configured to retain the fastener or a wrenching element of the fastener; and a finger flange configured to actuate the arm, where the finger flange is attached to the arm.

Abstract: End effectors and systems may capture, release, and/or create a mating engagement between the end effector and a target object. Said end effectors are tolerant of positional and rotational misalignment of the target object, and include a plurality of roller wheels, one or more of which is arranged in a non-parallel plane with respect to one or more other roller wheels. A first roller wheel configured to rotate in a first plane, a second roller wheel configured to rotate in a second plane, and a third roller wheel configured to rotate in a third plane may be arranged such that the end effector is configured to engage a passive receptacle of the target object, to capture the target object. Rotating the roller wheels in the opposite direction may cause the target object to be released or launched, by urging the passive receptacle off of or away from the roller wheels.

Abstract: An apparatus for retaining a fastener is described. The apparatus includes a base, including a first aperture including a central axis; and a sidewall extending outward from the base and surrounding the central axis, where the sidewall is configured to hold on to a socket; an arm extending outward from the base, including a biasing mechanism connecting a first end of the arm to the base, where the biasing mechanism configured to relieve stress between the base and the arm when the arm is actuated; and a lip disposed at a second end of the arm, where the second end is at an opposite end of the arm than the first end, and where the lip is configured to retain the fastener or a wrenching element of the fastener; and a finger flange configured to actuate the arm, where the finger flange is attached to the arm.