Automatic folding of cartons using a reconfigurable robotic system

Wei Yao, Ferdinando Cannella, Jian Dai

    Research output: Contribution to journalArticlepeer-review

    29 Citations (Scopus)


    This paper proposes new theories and methodology for the study of folding carton and reconfigurable packaging systems and presents both virtual and experimental systems to support the theories. Equivalent mechanisms of cartons were established by describing carton creases as joints and carton panels as links. With the analysis of the equivalent mechanism, the gusset vertexes of cartons were analyzed based on their equivalent spherical linkages and were identified as guiding linkages that determine folding. A reconfigurable robotic system was developed to demonstrate the ability to erect diverted cartons in the reconfigurable packaging system which could previously only be achieved manually.
    Original languageEnglish
    Pages (from-to)604-613
    Number of pages10
    JournalRobotics and Computer Integrated Manufacturing
    Issue number3
    Publication statusPublished - Jun 2011


    • robotics
    • carton
    • reconfigurable
    • spherical mechanism
    • packaging


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