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Apparatus for acquiring individual workpieces from a supply of randomly oriented workpieces in a storage bin or the like. The apparatus includes a movably mounted head assembly having a gripper connected thereto by an intermediate flexible support. A sensor generates a control signal responsive to a

Apparatus for acquiring individual workpieces from a supply of randomly oriented workpieces in a storage bin or the like. The apparatus includes a movably mounted head assembly having a gripper connected thereto by an intermediate flexible support. A sensor generates a control signal responsive to a contact force exerted by the gripper on a workpiece. The gripper operates to grip the workpiece contacted thereby. The flexible support is then retracted to lock the gripper against an abutment surface fixed relative to the head assembly. Operation of the gripper and/or movement of the head assembly may be controlled in response to said control signal.

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Apparatus for acquiring individual workpieces from a supply of randomly oriented workpieces in a storage bin or the like comprising a movable mounted head assembly and an abutment surface on said head assembly; gripping means flexibly connected to said head assembly by support means; operating means

Apparatus for acquiring individual workpieces from a supply of randomly oriented workpieces in a storage bin or the like comprising a movable mounted head assembly and an abutment surface on said head assembly; gripping means flexibly connected to said head assembly by support means; operating means associated with said support means and said head assembly for moving said gripping means relative to said head assembly between an extended position spaced from the abutment surface and at which the flexibility of said support means permits said gripping means to movably adjust to a randomly oriented workpiece contacted thereby, and a retracted position in contact with said abutment surface at which both the gripping means and the workpiece gripped thereby are fixed relative to the head assembly, said gripping means operating to grip a workpiece contacted thereby during movement of said head assembly; and, sensing means responsive to a contact force exerted by said flexibly connected gripping means on a workpiece for generating a control signal.