Methods, systems, devices, and apparatuses that support techniques for material hand-off using a double-acting kinematic mount are described. A kinematic mount may be mounted between a flange of a robotic manipulator and with a tool for retrieval and placement of an object. The kinematic mount may include a first sub-component and a second sub-component, where a floating structure of the first sub-component may be coupled with a plate of the second sub-component by a preloading force (e.g., via one or more springs, magnets). The kinematic mount may be configured such that the floating structure may be decoupled from the plate of the second sub-component when a force greater than the preloading force is applied to a bottom plate of the first sub-component. The first sub-component may move independently of the second sub-component while decoupled, allowing the tool to align to the object during retrieval and placement.

Embodiments of the present invention provide a magnetically retained replaceable contact plate assembly. The magnetically retained replaceable contact plate assembly includes a contact chuck interface. The contact chuck is configured to physically mate with a device under test (DUT). The magnetically retained replaceable contact plate assembly also includes a DUT layout unit interface (DLU). The DLU is configured to couple to multiple magnetically retained replaceable contact plate assemblies and to a semiconductor handler unit. The DLU is configured to move DUTs within a test environment, and the magnetically retained replaceable contact plate assembly is configured to magnetically attach to said DLU.

A robotic grommet installer includes a robotic arm and an installation unit. The installation unit includes a rotary grommet holder rotatively coupled to the robotic arm and an installer coupled to the robotic arm. The rotary grommet holder includes a plurality of grommet chambers spaced circumferentially about a rotational axis of the rotary grommet holder. Each grommet chamber of the plurality of grommet chambers is configured to hold a plurality of grommets. The installer is configured to retrieve a grommet from the rotary grommet holder, wherein the rotary grommet holder is configured to rotate to align the installer with an available grommet positioned within one of the plurality of grommet chambers.

A robotic end effector quick change coupling apparatus employs a drive motor assembly having a center drive interface. A coupling component having a magnetic element extends from the drive motor assembly concentric with the center drive interface. An end effector tool has a drive connection adapted to removably receive the center drive interface. A mating coupling component having a mating magnetic element extends from the end effector tool concentric with the drive connection. The magnetic element and mating magnetic element are separably engaged by mutual magnetic attraction to couple the end effector to the drive motor assembly.

A method for operating a gripper includes determining a first transport attachment of a plurality of transport attachments to use for moving a piece good and determining whether the first transport attachment is fixed in a first gripping jaw of the gripper, wherein the gripper includes a drop table having at least one storage and dispensing end face; the first gripping jaw and a second gripping jaw each arranged above the drop table and fastened to a gripping jaw guide arrangement, wherein the first gripping jaw has a gripper coupler at an end portion opposite the gripping jaw guide arrangement; and a transport attachment of the plurality of transport attachments with an attachment coupler, wherein the gripper coupler and the attachment coupler interact with one another so that the transport attachment is releasably fixed at the end portion of the first gripping jaw. Grippers and transport systems are also provided.

A method is provided for transporting components using a gripping apparatus. The gripping apparatus includes a body defining a chamber and includes an exhaust at a first end of the body. The gripping apparatus also includes an air conveyor positioned within the chamber. The method includes attaching a gripper head to a second end of the body opposite to the first end. The gripper head defines one or more openings and a nest. The method further includes generating an air flow through an inlet of the air conveyor and out through the exhaust. The method further includes applying suction via the one or more openings in the gripper head to locate and releasably hold one of the components with the gripper head at the first location based on the generating step. The method further includes transporting the component from the first location to a second location.

A gripping apparatus is provided for transporting components from one location to another. The gripping apparatus includes a body defining a chamber and an exhaust at a first end of the body. The apparatus also includes a gripper head configured to be attached to a second end of the body opposite to the first end. The gripper head defines one or more openings and a nest having a profile configured to locate and releasably hold a component based on an air flow generated within the chamber and discharged through the exhaust. The apparatus also includes an air conveyor positioned within the chamber. The air conveyor is configured to generate the air flow through an inlet and out through the exhaust. The air conveyor defines a central bore and an exhaust port. The inlet includes an inlet port with a nozzle in communication with the central bore and the exhaust port.

A collet replacement mechanism for replacing a collet of a pickup tool that is configured to pick up chip components by suction using the collet comprises an attachment configured to hold the collet on a bottom surface thereof, an attachment holder disposed at a lower part of the pickup tool and configured to hold an upper part of the attachment by magnetic force, and an attachment storage unit having a guide that is configured to latch the attachment to store the attachment, the attachment being detachable from the attachment holder in a state of being latched to the guide.

A programmable motion system is disclosed that includes a dynamic end effector system. The dynamic end effector system includes a plurality of acquisition units that are provided at an exchange station within an area accessible by the programmable motion device, and a coupling system for coupling any of the plurality of acquisition units to an end effector of the programmable motion device such that any of the acquisition units may be automatically selected from the exchange station and used by the programmable motion device without requiring any activation or actuation by the exchange station and without requiring any intervention by a human.

A mobile manipulator robot for retrieving inventory items from a storage system. The robot includes a body, a wheel assembly, a sensor to locate a position of the robot within the storage system, an interface configured to send processor readable data to a remote processor and to an operator interface, and receive processor executable instructions from the remote processor and from the operator interface, an imaging device to capture images of the inventory items, a picking manipulator, first and second pneumatic gripping elements for grasping the inventory items, and a coupler configured to mate with a valve to access a pneumatic supply for operating at least one of the first or second pneumatic gripping elements. The robot is configured to transition the valve from a closed condition to an open condition and selectively place one of the first or the second pneumatic gripping elements in communication with the pneumatic supply.