OPENTECHNICAL PUBLICATION
OT-2026-000003319

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

Published: 2026-09-15T20:09:00.707746Z
Permanent URL: https://opentechnical.org/p/OT-2026-000003319
Categories: Robotics & Automation > Robot Architectures

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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.

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OpenTechnical publication OT-2026-000003319
Published 2026-09-15T20:09:00.707746Z
https://opentechnical.org/p/OT-2026-000003319