#$%^&*AU2017218947B220181122.pdf#####ABSTRACT OF THE DISCLOSURE A system comprising a robotic arm, a plurality of grabbers, a sensor, and a preparation cup. The robotic arm has a first end and a recessed portion. The grabbers are coupled to the robotic arm at the first end. The sensor is positioned inside the 5 recessed portion of the robotic arm at a first distance from the first end and at a first angle. The preparation cup is coupled to wings having a body portion, a first extended portion, and a second extended portion. The body portion is coupled to a portion of the preparation cup, the first extended portion extends in a first direction and the second extended portion extends in a second direction. The wings are 10 operable to be magnetically coupled to the plurality of grabbers via the first and second extended portions.20 2416b 22 FG 18 124 12 16a FIG.1I
