Parametric and modal work-holding apparatus

A workholder apparatus configured for sequentially holding each workpiece of a plurality of workpieces, each workpiece having a distinct holding specification from the respective holding specifications of other workpieces of the plurality of workpieces, the workholder comprising:

• a workpiece interface controllable to open to receive the workpiece in an open configuration, and to close to grasp the workpiece in a closed configuration;
• an actuator integral to the workholder and mechanically coupled to the workpiece interface;
• and
• a control circuit integral to the workholder, the control circuit configured to (1) receive specification of a pre-defined mode from a plurality of selectable pre-defined modes, each such mode specifying a set of holding parameters corresponding to the holding specification of a workpiece of the plurality of workpieces, said pre-defined mode being a specified pre-defined mode, and to (2) autonomously execute workholding operations pursuant to the parameters of the specified pre-defined mode, wherein the holding parameters comprise at least one of:
• a parameter specifying a maximum closing speed for closing the workpiece interface, pursuant to which a controller controls the workholder to open the workpiece interface at a speed not greater than the specified maximum closing speed;
• a parameter quantitatively specifying a closing delay time between (a) positioning of the workpiece by a robot in a specified position relative to the workpiece interface, and (b) closing of the workpiece interface to grasp the workpiece, pursuant to which the controller controls the workholder to delay closing the workpiece interface until such closing delay time has elapsed;
• a parameter quantitatively specifying an opening delay time between (a) completion of an inspection operation by a workpiece inspection machine and (b) opening the workpiece interface to release the workpiece, pursuant to which the controller controls the workholder to delay opening the workpiece interface until such opening delay time has elapsed;
• a parameter defining a time duration to jiggle the workpiece interface upon receipt of the workpiece at workholder, pursuant to which the workholder jiggles the workpiece for the specified time duration;
• and/or
• a parameter defining a vibration intensity at which to jiggle the workpiece interface upon receipt of the workpiece at workholder, pursuant to which the workholder jiggles the workpiece at the specified vibration intensity.

A non-transitory computer readable medium having non-transient computer-executable code, the non-transient computer-executable code for controlling a workholder for autonomously executing holding operations pursuant to parameters of a specified pre-defined mode, the computer-executable code comprising:

• code for causing the workholder to selectively execute workholding operations of each mode of a plurality of distinct, selectable pre-defined modes, each such mode specifying a set of holding parameters corresponding to the holding specification of a workpiece of a plurality of workpieces the holding parameters comprising at least one of:
• a parameter specifying a maximum closing speed for closing the workpiece interface, pursuant to which a controller controls the workholder to open the workpiece interface at a speed not greater than the specified maximum closing speed;
• a parameter quantitatively specifying a closing delay time between (a) positioning of the workpiece by a robot in a specified position relative to the workpiece interface, and (b) closing of the workpiece interface to grasp the workpiece, pursuant to which the controller controls the workholder to delay closing the workpiece interface until such closing delay time has elapsed;
• a parameter quantitatively specifying an opening delay time between (a) completion of an inspection operation by a workpiece inspection machine and (b) opening the workpiece interface to release the workpiece, pursuant to which the controller controls the workholder to delay opening the workpiece interface until such opening delay time has elapsed;
• a parameter defining a time duration to jiggle the workpiece interface upon receipt of the workpiece at workholder, pursuant to which the workholder jiggles the workpiece for the specified time duration;
• and/or
• a parameter defining a vibration intensity at which to jiggle the workpiece interface upon receipt of the workpiece at workholder, pursuant to which the workholder jiggles the workpiece at the specified vibration intensity;
• code for receiving, at a control circuit integral to the workholder, specification of a pre-defined mode from the plurality of pre-defined modes, said pre-defined mode being a specified pre-defined mode;
• and
• code for causing the workholder to autonomously execute workholding operations pursuant to the parameters of the specified pre-defined mode.