I am working on a project to repurpose a Yaskawa MH50 to palletize plastic totes. We have to pick the plastic totes up by the lip, stack them and the back out. The problem we are having is clearance at the bottom of the EOAT. We made a device that is basically U shaped and slides under the side edges of the tote. On the front side We have locators to slide into pockets in the front side of the tote. The totes have a taper so when stacked the top edges touch and the bottoms do not. We are doing 4 stacks of 6 totes high.
I was wondering if anyone is doing something similar and if so what type of EOAT are you using?
Thanks
