Hybrid gripper for handling objects

A system for object handling in a storage facility, the system comprising:

• a robotic apparatus, including:
• a robotic arm;
• and
• a hybrid gripper coupled to the robotic arm, wherein the hybrid gripper comprises:
• a first end effector that has (i) a first longitudinal support member, (ii) a gripper assembly, and (iii) a linear actuator attached to the first longitudinal support member and the gripper assembly, wherein the linear actuator provides an axial movement of the gripper assembly with respect to the first longitudinal support member;
• a second end effector pivotably coupled to the first end effector, wherein the second end effector includes a second longitudinal support member and a spatula, rotatably coupled to an end of the second longitudinal support member, to hold the object picked by the gripper assembly;
• a drive assembly coupled to the first longitudinal support member and the second longitudinal support member, the drive assembly configured to move the first longitudinal support member with respect to the second longitudinal support member inf a first angular movement;
• and
• a rotating mechanism coupled to the second longitudinal support member and the spatula, the rotation member configured to move the spatula with respect to the second longitudinal support member in a second angular movement;
• and
• a control server in communication with the robotic apparatus, the control server configured to:
• detect an object of the plurality of objects to be handled;
• determine a plurality of actions to be performed by the robotic apparatus for handling the object;
• and
• control, based on the determined plurality of actions:
• the robotic arm to orient the hybrid gripper with respect to the object positioned at a first height;
• the linear actuator to move the gripper assembly by a first distance from an end of the first longitudinal support member;
• the drive assembly to rotate the first longitudinal support member to a first angle with respect to the second longitudinal support member;
• the rotating mechanism to rotate the spatula to a second angle with respect to the second longitudinal support member;
• and
• the gripper assembly to grip and pick the object from the first height and place the picked object on the spatula.