An example of a small pick and place head:
I think if you replaced the large stepper motor with a small servo, or even one of the really small steppers used in camera focusing systems, it could easily mount on the head of the Voltera. Vacuum pump is the real key I think.
Finally, combining this with a camera, and just manual positioning could even be very useful for most cases, as true automated pick and place will require at least a bottom up imaging system to adjust for positioning of the component on the tip.