Mixed Case Palletizing

This paper reframes mixed-case palletizing as a system design problem, instead of a milestone for articulating arm robots. It breaks down the full architecture of order profile, packaging constraints, logical load building, sequencing, handling, execution, throughput, and more importantly, how these layers interact and fail in practice.

If you’re evaluating solutions, or designing systems for this space, this is the level where the real decisions and risks live. The goal isn’t to challenge the progress that’s been made. The goal is to make sure we’re solving the right problem and the whole problem.