Abstract: This invention relates to a self aligning, vacuum end effector which is capable of picking up objects which have a pick up surface which is not planar with the pick up surface of the end effector. The end effector is comprised of two parts: a nozzle base which fixedly attaches to an automatic assembly device, such as robotic arm; and a nozzle tip, which is the part of the end effector which actually comes in contact with the object to be picked up. The nozzle base and nozzle tip are secured together by a retention spring. The nozzle tip has a generally, semi-spherically shaped ball portion which is partly inserted into a bore within the nozzle base and rests against a quad ring which is secured within the bore. Consequently, when the nozzle tip makes contact with an object which is to be picked up and moved, the semi-spherical ball portion of the nozzle tip slides against the quad ring and the nozzle tip pivotally moves and aligns itself with the plane of the surface of the object to be picked up.