---
publication_id: "OT-2026-000003319"
title: "Method and system for loading rigid sheet material into shipping containers at a work station and end effector for use therein"
published_at: "2026-09-15T20:09:00.707746Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000003319"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j15/0616"
  - "b25j15/0616"
  - "b25j15/06"
  - "b25j17/02"
  - "b25j17/0208"
  - "b25j17/0208"
---

# Method and system for loading rigid sheet material into shipping containers at a work station and end effector for use therein

## Abstract

A robotic end effector adapted to be mounted at the end of an arm of a program-controlled robot is capable of providing compliance within a vertical plane. A method and system utilizing the end effector pick-up flat or curved glass panels from glass racks and place the glass panels into irregularly-shaped wooden crates. Due to the compliance provided by the end effector, the system allows essentially perfect piece-to-piece vertical edge-of-glass alignment during the packaging process so as to eliminate glass etching/scratching. The end effector includes a base frame on which compliance devices in the form of linear bearing systems support a number of material handling devices in the form of suction devices. Selected ones of the compliance devices can be locked out under the control of a controller for the robot. Each suction device includes a spring-biased suction cup to also provide compliance in a direction substantially normal to the compliance provided in the vertical plane.

## 1. Drawings

[0001] Sheet 1.

[0002] Sheet 2.

[0003] Sheet 3.

[0004] Sheet 4.