Importance

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Abstract

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

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First Claim