Perception-Driven Robotic Manipulation for Packaging Stack of Envelopes: Gripper Design and Manipulation Strategies

This paper explores the automation challenges and solutions for handling and packaging compressible stacks of items, specifically paper envelopes, in the envelope production and packaging industry. It introduces a new mechanical gripper design, along with a set of manipulation strategies, for secure, damage-free handling and effective packaging of envelope stacks. The development includes a custom pneumatic gripper tailored for envelope stacks, innovative strategies for precise stack extraction and placement of envelopes into cardboard boxes, and addressing friction-related issues during gripper retraction. Through experimental validation, the effectiveness of the proposed gripper design and strategies are demonstrated in preserving the integrity of envelope stacks. The research highlights the potential of these automation solutions in industries handling compressible items.