An end effector is provided for use and connection to a robot arm of a robotic surgical system including a proximal hub, a distal hub, and a support hub. The distal hub is coupled to two opposing upright supports of the proximal hub about a first pivot axis. The support hub is coupled to two opposing upright supports of the distal hub about a second pivot axis. First and second drive members are coupled to opposing sides of the support hub and a third drive member is coupled to the distal hub. Simultaneous proximal translation of the first drive member and the second drive member causes the distal hub to pivot about the first pivot axis and proximal translation of only one of the first drive member or the second drive member causes the support hub to pivot about the second pivot axis.
