Apparatuses and methods for handling optical devices of varying geometries

An apparatus for retaining an optical device, comprising:

• a gripper actuator coupled to a proximal end of a stem, wherein the stem extends from a bottom surface of the gripper actuator along a longitudinal axis;
• a suction pad comprising a plurality of apertures and disposed at a distal end of the stem and a center of the bottom surface, the suction pad operable to provide a vertical suction force through the plurality of apertures against a substrate to be retained;
• a first arm and a second arm coupled to the gripper actuator such that the first and second arms radially oppose one another about the longitudinal axis of the stem, wherein the gripper actuator is operable to move the first and second arms laterally along a X-Y plane parallel to the bottom surface of the gripper actuator;
• a first plurality of retention pads positioned on the first arm;
• and
• a second plurality of retention pads positioned on the second arm, the second plurality of retention pads being at least partially misaligned with the first plurality of retention pads about the longitudinal axis of the stem.

A method for retaining an optical device, comprising:

• positioning a substrate to be retained below a retaining device comprising a first arm having a first plurality of retention pads, and a second arm having a second plurality of retention pads, the first and second arms operatively coupled to an actuator and positioned radially opposite one another about a longitudinal axis of a stem that extends from a base of the retaining device, the stem having a distal end including a suction pad so that the suction pad is disposed at a center of a bottom surface of the base, the suction pad operable to provide a vertical holding force to the substrate to be retained, and the second plurality of retention pads being at least partially misaligned with the first plurality of retention pads about the longitudinal axis;
• moving the retaining device to align the substrate between the first plurality of retention pads and the second plurality of retention pads;
• operating the first arm to move the first plurality of retention pads disposed on the first arm to just contact an edge of the substrate to be retained;
• operating the second arm to move the second plurality of retention pads disposed on the second arm to contact and apply a lateral force to the substrate to be retained;
• and
• activating the suction pad to provide the vertical holding force to the substrate to be retained.