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Internet-Based CAD Tool for Design of Gripper Jaws

[+] Author Affiliations
Mike Tao Zhang

Intel Corporation, Hillsboro, OR

Ken Goldberg

University of California, Berkeley, CA

Paper No. DETC2002/CIE-34460, pp. 405-410; 6 pages
  • ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 1: 22nd Computers and Information in Engineering Conference
  • Montreal, Quebec, Canada, September 29–October 2, 2002
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 0-7918-3621-5 | eISBN: 0-7918-3603-7
  • Copyright © 2002 by ASME


We describe an Internet-based CAD tool that automatically designs gripper jaws to align a given part from an initial orientation to a desired final orientation. We describe algorithmic improvements in computational efficiency, frictional analysis and form closure analysis. We describe the interface and give examples. We then apply the design tool to identify conditions under which jaw designs exist, leading to an analytic condition for triangular parts that cannot be aligned. The CAD tool is available online at www.ieor.berkeley.edu/~goldberg/sa-gripper/.

Copyright © 2002 by ASME



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