Pick-and-place system and method

A pick-and-place system, comprising:

• a robotic device, having a robotic arm;
• a rigid elongate strongback, supported by the robotic arm;
• a plurality of actuator-clamp assemblies, mountable in spaced relation to each other on the strongback, and each actuator-clamp assembly comprises:
• one or more jaw assemblies, each configured to clamp onto a localized segment of a workpiece;
• a multi-axis actuator, configured to couple the one or more jaw assemblies to the strongback and adjust an orientation of the localized segment prior to placement of the workpiece onto a mating structure;
• and
• a controller, configured to;
• independently actuate the multi-axis actuators of the actuator-clamp assemblies to independently rotate corresponding localized segments of the workpiece to an orientation distinct from the orientation of an adjacent localized segment and thereby impart a twist to the workpiece along a lengthwise direction;
• and
• control the robotic arm and the multi-axis actuator of each actuator-clamp assembly in a manner to position the workpiece on the mating structure such that an actual centerline of the localized segments of the workpiece is aligned with an intended centerline of the workpiece on the mating structure.

A method of picking up a workpiece and placing on a mating structure, comprising:

• clamping onto localized segments of a workpiece, respectively using a plurality of jaw assemblies respectively of a plurality of actuator-clamp assemblies mountable in spaced relation to each other on a rigid elongate strongback;
• picking up the workpiece using a robotic arm coupled to the strongback;
• adjusting an orientation of at least one of the localized segments when the workpiece is supported in three-dimensional space by the strongback, by independently actuating a multi-axis actuator of at least one of the actuator-clamp assemblies to independently rotate corresponding localized segments of the workpiece to an orientation distinct from the orientation of an adjacent localized segment and thereby impart a twist to the workpiece along a lengthwise direction;
• and
• placing the workpiece on a mating structure by operating the robotic arm in coordination with the multi-axis actuators.