A mass measuring apparatus includes a transferring and gripping device for removing an article from a seat of a movement device, holding the article in a measuring position, and then reinserting the article into the seat. The transferring and gripping device includes a gripping element for holding the article, an actuator for operating with an actuating signal on the gripping element to make the gripping element vibrate at a specific resonance frequency, a sensor for measuring a vibration response signal of the gripping element vibrating and supporting the article in the measuring position, a processing unit for receiving the vibration response signal and controlling the actuator to generate an actuating signal to make the gripping element vibrate at an operating resonance frequency, and then calculating a mass of the article by comparing the operating resonance frequency with the resonance frequency of the gripping element.