TABLE 7. General Process Requirements for Order Kitting Operation.

Parameter	Requirement
Reach	Robot Work Envelope Should allow for reaching into tote as well as placing into order-box.
Payload	Robot should have sufficient payload capacity tooling and expected range of product (all under 2 Kg)
Articulation	Minimum six degrees of freedom to reach items randomly oriented in tote (X, Y,Z,W,P and R).
Speed	Speed of robot is important to not keep customer waiting. Speed of work-cell is also dependent on turntable rotating and processing time of vision.
Precision	High precision is not a key requirement - +/−3mm can be tolerated.