Automatic Robotic Palletizing for Oil Carton

Palletisation is the most common approach and complex operation to perform at the end of production lines. The oil cartons are kept closer to each other, which brought to the necessity of design a special gripper and making it possible to handle the boxes. In this paper, the gripper is designed and developed for palletizing oil cartons. The work is concentrated on carton arrangements on the pallet using offline programming for different pattern generation with the user-defined interface. The total weight of the cartons varies from 12to20 kgs. Finally, the IRB 660 ABB robot includes gripper is used and verified for palletizing oil cartons