Robotic picking apparatus and method for operating the same

A gripping system for grabbing and releasing an object using a robotic arm, the gripping system comprising:

• a gripper body for operably engaging the robotic arm, wherein the gripper body comprises a vacuum pathway, a vacuum source connector operably coupled to the vacuum pathway, and an air source connector;
• a plurality of air lines coupled to the air source connector;
• a respective plurality of valves coupled to the plurality of air lines;
• a compressed air source coupled to the respective plurality of valves;
• a vacuum source coupled to the respective plurality of valves, such that each one of the valves is configured for switching between the compressed air source and the vacuum source being supplied through the corresponding one of the air lines;
• and
• a respective plurality of compensators coupled to the plurality of air lines, wherein each compensator of the plurality of compensators has an extended position and a retracted position defining a range of motion therebetween, and wherein each compensator of the plurality of compensators comprises:
• a cylinder having a distal end and a proximal end;
• a piston configured for reciprocal linear translation within the cylinder;
• a piston rod having a proximal end attached to the piston and a distal portion protruding out of the distal end of the cylinder;
• and
• an expansion volume in the cylinder, wherein the expansion volume is in fluid communication with a respective one of the plurality of air lines, and wherein the expansion volume is configured to expand when the air line is coupled to the compressed air source and is configured to contract when the air line is coupled to the vacuum source.