Order preparation application with Robotiq components

Order preparation consists of picking products from various containers or shelves and placing them in cardboard boxes or baskets that are then shipped to customers. Because this task is full of variability, it is a perfect fit for robotic systems controlled by physical AI software. Mobile and humanoid robots are a natural choice, since this work is typically done by people moving between workstations.

The main sources of variability are:

• Objects randomly placed in containers (bin picking)
• Objects with inconsistent shapes (deformable objects)
• Containers in random locations
• A large variety of different objects

Tackling the Challenges with Robotiq

Adaptive Grippers: 2F-85 and 2F-140

The 2F-85 and 2F-140 are adaptive grippers with an 85 mm or 140 mm stroke that can pick objects in parallel or encompassing mode. Because the fingers adapt to the shape of what they grab, a single gripper can handle a wide range of items.

• Grasping a large variety of objects: the gripper can pinch an item between its fingertips, wrap around it, or hold a hollow item from the inside. The grip force can be set low to handle fragile items, or high to secure heavy objects.
• Secure grip during transport: the gripper is self-locking. If an item starts to slip, it closes further on its own to keep hold of it, and it tells the robot when contact with the item is lost.
• Power saving: once locked on an object, the gripper draws almost no power (less than 1 W), which preserves the mobile robot's battery. While moving, it draws up to 1 A at 24 V.
• Robust and compliant: the gripper has a sturdy design, and the compliant finger mechanism makes it tolerant of unexpected contact with the environment.

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Tips

• Pick large boxes and plastic containers from both sides, using both arms of the humanoid robot.
• Use custom fingertips, such as long fingers, to reach items deeper in a container.

Tactile Sensor Fingertips: TSF-85 and TSF-140

The 2F-85 and 2F-140 can be equipped with the Robotiq TSF-85 or TSF-140 Tactile Sensor Fingertips. They give the AI software an additional layer of data, which gives the robot more dexterity.

• Confirm a good grip on the object: estimate the grip quality by analyzing the pressure signal of the tactile sensor.
• Place the object accurately: with the tactile data, the robot can understand how the object sits inside the gripper and use this information to adjust where it places the object in the box.

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Example 

Robotiq demo: a robot stacks randomly picked cylinders with high precision, thanks to the tactile sensors.

Vacuum Gripper: EPick

The Robotiq EPick is a compact vacuum gripper.

• Picking from narrow spaces: the EPick can be fitted with an extension to easily reach the bottom of containers.
• Picking from a surface: a vacuum gripper is a good option for non-porous objects such as:
  • Thin objects that are difficult to pick with an adaptive gripper
  • Bags of chips and similar packaging whose fragile contents could be damaged by an adaptive gripper
• Power saving: the EPick has an integrated vacuum generator that stops automatically once a sufficient vacuum level is reached, which preserves the mobile robot's battery. At rest it draws about 1 W, with a peak of 1.8 A for 80 ms when the vacuum pump starts.
• Vacuum level monitoring: the gripper constantly monitors the vacuum level and lets the robot know if an object is lost.

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Choosing the right gripping method

Vacuum gripping extends the range of objects a robot can pick, and it works best when the application is matched to the right gripper:

• Compact vacuum grippers such as the EPick are designed for non-porous materials. Porous cardboard boxes require a higher vacuum level, generated by large compressors that are not suited to mobile robots.
• For a stationary robot with compressed air available, the Robotiq PowerPick vacuum grippers can handle porous cardboard boxes.
• For transport over longer distances, the self-locking grip of an adaptive gripper offers more security than vacuum.

Tips

• Use the vacuum gripper to pick the object, then place it in a container on the robot's mobile base. This reduces the risk of losing the object during transport and saves battery. 
• A robot equipped with adaptive grippers can pick up a compressed-air vacuum gripper available at the station where it performs the pick and place, just as a person would use the tools at a workstation. This avoids generating vacuum from the mobile robot's battery while still allowing the robot to handle porous materials. 
• Place the robot's second arm under the object to secure it during transport. 
• Select the suction cup that best fits the material you are most likely to pick. See Choosing the Right Suction Cups for Your Robotiq Vacuum Gripper.

Force Torque Sensor: FT 300-S

The FT 300-S is a multi-axis force torque sensor mounted on the robot flange, just below the end effector. It is a robust, IP65-rated product with a 500% overload capacity (up to 1,500 N) before damage.

• Handling collisions with the environment: the AI software that controls the robot may sometimes plan motions that cause collisions. The sensor detects them so the robot can adjust its trajectory. This protects the end effector and prevents the robot from stopping because of an unwanted impact.
• Detecting contact with objects: when the robot reaches into a container, it can sense when it touches the surface of the object. This makes positioning for the pick easier and prevents damage to the object.
• Inserting items in boxes (packaging): the sensor helps the robot feel the box walls and adjust its path to place objects inside.

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Tip

• The force torque sensor works with both adaptive grippers and vacuum grippers.

Conclusion

Order preparation is full of variability, but combining the right grippers and sensors gives a physical AI robot the reach, grip security and feedback it needs to handle it. To go further, read Choosing the Right Vacuum Gripper for your Application, or check out our products.

Need help? Contact Robotiq Support.

Updated: October 1, 2026