The present invention relates to a workpiece holding device (101, 201) comprising a substantially spherical ball (107, 207) with means for releasably retaining a workpiece (901), a socket (102, 202) with a first ball-receiving surface (105, 205) and means for mounting said socket (102, 202) on a worktable (905), and means for releasably clamping said ball (107, 207) against said first ball-receiving surface (105, 205). The first ball-receiving surface (105, 205) is shaped on a ball-receiving element (104, 204) mounted moveable, within said socket (102, 202), along at least one axis in a plane substantially perpendicular to its clamping force. The invention also relates to a workpiece holding system comprising three workpiece holding devices (101, 201, 301), as well as to a method for using this workpiece holding system.