# Design considerations

# Examples

# Example 1

As a general recommendation, consider the Stopper mark as a reference point when designing the pattern, since it is a fixed and known point. Variations in product size or gripper size may otherwise cause collision issues during the approach.

The following image shows a case where the Stopper orientation is not suitable. If the product or gripper has larger dimensions, product 2.2 would collide with products 1.1 and 1.2.

Possible solutions:

Solution: Box reorientation or inverted pick

# Example 2

The illustrated case shows a situation where a collision would occur due to an incorrect choice of approach direction. Product 4.1 would collide with product 3.1 when descending onto the pallet.

Below are two possible solutions to this case.

Solution: Change approach direction or reorder boxes