Robotic system for mixing and packing articles

Apparatus for transferring articles between a first location and a second location, said apparatus comprising, in combination:

• robot means including a movable robotic arm;
• and
• article engaging means operatively associated with said movable robotic arm and movable therewith for engaging a plurality of articles and transferring the plurality of articles from a first location to a second location, said article engaging means including a fixture attached to said movable robotic arm and movable therewith, a plurality of clamping elements movably connected to said fixture to selectively clamp articles, means for moving said clamping elements relative to said fixture between a clamping position and a non-clamping position, and means for biasing articles clamped by said clamping elements in a direction away from said clamping elements to urge said biased articles out of engagement with said clamping elements when said clamping elements are moved from said clamping position to said non-clamping position by said means for moving said clamping elements, said means for biasing said articles including a plurality of follower elements engageable with said articles, said follower elements being mounted for slidable movement relative to said fixture and operable under the influence of gravity to bias articles clamped by said clamping elements in a direction away from said fixture.