An innovative concept of the remote center semi-passive device for the material handling machine has been introduced. This device is used to adjust the final position and/or orientation of a package passively and quickly so that this package can fit into the package stack corner. In this paper, we have designed a double-pantograph mechanism to adjust the position of the package. We have also introduced the idea of using a four-bar linkage to remote the rotation center of the package so that the orientation can be adjusted passively. The workspace of such a device has been analyzed. The dimension has also been synthesized by optimization. Using this mechanism, the force control can be avoided and the control of this device becomes a feed-forward control. It is believed that its implementation will result in low cost, high speed, better stability and space efficiency of the package stack.

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