Method for forming gripper heads used to transport components

A method, comprising:

• obtaining 3D data based on a geometry of a component;
• and
• forming one gripper head comprising 3D printing the gripper head based on
• the obtained 3D data including forming one or more openings in the gripper head and forming a nest of the gripper head to locate and releasably hold the component based on suction being applied through the one or more openings;
• wherein the obtaining step comprises obtaining 3D data indicating geometry of a plurality of components;
• wherein the forming step comprises forming a plurality of gripper heads for each of the respective plurality of components including forming a respective one or more openings in each gripper head and a respective nest of each gripper head to locate and releasably hold a respective one of the plurality of components based on suction being applied through the respective one or more openings of the respective gripper head;
• wherein the plurality of gripper heads include a first gripper head and a second gripper head and the plurality of components includes a first component and a second component;
• wherein the obtaining step comprises obtaining 3D data indicating geometry of the
• first component and obtaining 3D data indicating geometry of the second component;
• wherein the forming step comprises forming a single opening in the first gripper head that is parallel to a longitudinal axis of the first gripper head such that the first gripper head is configured to releasably hold the first component based on suction being applied through the single opening;
• and
• wherein the forming step comprises forming multiple openings in the second gripper head including one or more angled openings that are angled relative to a longitudinal axis of the second gripper head such that the second gripper head is configured to releasably hold the second component based on suction being applied through the angled openings.