ACTION 05

Stacking

Placing objects so each becomes the support for the next, with the stack standing on its own

Why It Matters

Stacking recurs in palletizing, dish handling, and shelf restocking. Examples include loading mixed cargo layer by layer, stacking carrier trays in tiers, and nesting dishes.

Palletizers handle standardized loads. When dimensions and weight vary from item to item, the stacking order and position must be decided on the spot, and success is judged by the stack's static stability after release.

Skills 3

05-AFeatureless-Interface Stacking

The contact surfaces have no features to guide each piece into place, so placement errors go uncorrected and accumulate with each layer, narrowing the margin within which the stack stands.

Featureless-Interface Stacking — Initial state
Initial stateObjects whose contact surfaces have no mating features lie unstacked.
Featureless-Interface Stacking — Final state
Final stateThe objects are stacked to the specified number of levels, and the stack stands on its own.
C_geomC_forceC_contactC_obsC_deformC_dyn
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05-BBrittle Object Stacking

The placing force acts on both the piece being placed and the pieces beneath it, so it must be regulated to keep any of them from breaking.

Brittle Object Stacking — Initial state
Initial stateObjects that break under pressure lie unstacked.
Brittle Object Stacking — Final state
Final stateThe objects are stacked to the specified number of levels without breaking, and the stack stands on its own.
C_geomC_forceC_contactC_obsC_deformC_dyn
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05-CInterlocking Stacking

Each piece seats by engaging rather than resting, so the mating features must be recognized and matched.

Interlocking Stacking — Initial state
Initial stateObjects with mating features lie unstacked.
Interlocking Stacking — Final state
Final stateThe objects are stacked to the specified number of levels with their mating features engaged.
C_geomC_forceC_contactC_obsC_deformC_dyn
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