This pick & place application shows, how some creativity can solve issues with imperfect picking. The robot picks five vials at the same time and places them in a tray. However, while picking the vials slip a bit. This problem was solved by leading the vials through a metal comb-like structure.

Developer: rbtx

You can find a Video of the application here!

Program files: ParallelPicking_Programs.zip

Setup

Robot Type: igus Gantry DLE-RG-0004-BLDC

Five vials are placed on a tray. A simple endeffector with five gripping points was constructed to pick the vials. Due to the imperfection during gripping the vials slip a bit. For this reason a metal-comb has been added that alignes the vials. Afterwards the vials can be placed safely in the storage box.