Abstract: A gripper head for attachment to the Z axis shaft of a robot or a pick and place machine to pick up objects and position them on a workpiece, comprises a body from which projects a pair of gripping jaws which are slidable horizontally relative to the body by first and second pneumatic piston and cylinder units, respectively. A hold down and tamper member is vertically movable between the jaws by a third piston and cylinder unit so as to hold down an object to be picked up while the jaws are being closed about it and to tamp the object down against the workpiece. A brake is provided for stopping the piston of one of the first and second piston and cylinder units in a desired position. The hold down and tamper member may be arranged also to act as a vacuum pick up device.

Abstract: Apparatus for manufacturing wiring harnesses employs a robot mounted above a harness board with storage areas for jigs, connectors, wire dispensers, and insertion tooling about the periphery thereof for easy pickup by robotic gripper, which positions jigs and connectors and laces wire from a wire dispensing assembly through the jigs before terminating and severing wire. Dispensing assembly comprises a dispenser which gripper picks up from a bracket in a holder to draw wire from endless source to lace the harness. The holder has wire feed wheels and a severing mechanism therein which may be used with a choice of dispensers in order to use different color or size wire. After termination and severing, pivoted platforms on wire jigs eject wire scraps from around lacing posts fixed on the jigs.