Our proposed use of Universal Robots UR5e is filled pouch transfer with a filled sample bag in a small flexible packaging workshop, starting with 102. Although the transfer motion works, changing products and bag shapes keep adding presentation work. I've invested substantial effort and find it difficult to step back, but I doubt whether the whole process justifies continued maintenance.
Do your observations compare manual packing against the assisted process including presentation adjustments and operator involvement? Those activities matter to the continuation decision as much as the transfer itself.
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