System for handling and processing yarn

An apparatus for servicing a twisting machine having a plurality of rows, each row having at least one receptacle for receiving a yarn package and a handle for moving the at least one receptacle about and between a loading position and an operational position, the apparatus comprising:

• an automated guided vehicle (AGV);
• a robotic arm coupled to the AGV, wherein the robotic arm comprises an end effector;
• a rack carried by the AGV, wherein the rack is configured to hold a plurality of empty tubes and a plurality of yarn packages;
• and
• at least one controller that is configured to cause the robotic arm to:
• grip, by the end effector, the handle of a row of the plurality of rows of the twisting machine;
• lower, by the handle, the at least one receptacle to the loading position;
• remove, by the end effector, an empty tube from a first receptacle of the at least one receptacle;
• place the empty tube on the rack;
• lift, by the end effector, a yarn package from the rack;
• place the yarn package on the first receptacle;
• grip, by the end effector, the handle of the row of the plurality of rows of the twisting machine;
• and
• raise, by the handle, the at least one receptacle to the operational position.