A Computer-Aided Design Tool in Java for Planar Gripper Design

[+] Author and Article Information
Mike Tao Zhang

Intel Products (Shanghai) Ltd., 999 Ying Lun Road, Waigaoqiao Free Trade Zone, Shanghai, China 200122

Ken Goldberg

Dept. of Industrial Eng. & Operations Research and Dept. of Electrical Eng. & Computer Science, University of California, Berkeley, CA 94720–1777

J. Comput. Inf. Sci. Eng 4(1), 43-48 (Mar 23, 2004) (6 pages) doi:10.1115/1.1640655 History: Received June 01, 2002; Revised November 01, 2003; Online March 23, 2004
Copyright © 2004 by ASME
Your Session has timed out. Please sign back in to continue.


The Geometry Center, University of Minnesota, http://www.geom.umn.edu/apps.
The Remote Interactive Optimization Testbed (RIOT), UC Berkeley, http://riot.ieor.berkeley.edu/.
Smith,  C., and Wright,  P., 1996, “CyberCut: A World Wide Web Based Design to Fabrication Tool,” J. Manuf. Syst., 15, pp. 432–442.
Chui,  W., and Wright,  P., 1999, “A WWW Computer Integrated Manufacturing Environment for Rapid Prototyping and Education,” J. Computer Integrated Manufacturing, 12, pp. 54–60.
Cybercut, UC Berkeley, http://cybercut.berkeley.edu/.
Piccinocchi, S., Ceccarelli, M., Piloni, F., and Bicchi. A., 1997, “Interactive Benchmark for Planning Algorithms On the Web: http://www.piaggio.ccii.unipi.it/benchplanning.html,” Proc. IEEE Int. Con. Robot. Automat., Albuquerque, NM, pp. 399–404.
Brost,  R., and Goldberg,  K., 1999, “A Complete Algorithm for Designing Planar Fixtures Using Modular Components,” IEEE J. Rob. Autom., 12(1), pp. 31–46.
Wagner,  R., Castanotto,  G., and Goldberg,  K., 1997, “FixtureNet: Interactive Computer-Aided Design Via the World Wide Web,” J. Human-Computer Studies, 46, pp. 773–788.
Anderson, C., Zhuang, Y., and Goldberg, K., 1997, “FixtureNet II: Interactive Redesign and Force Visualization on the Web,” Proc. ASME Design Eng. Tech. Conf., Sacramento, CA.
Katwyk, K. V., and Cheng, H., 1997, “Xlinkage: A Web-Based Analysis and Simulation Tool for Planar Mechanical Systems.” Proc. ASME Design Eng. Tech. Conf., Sacramento, CA.
Larson,  J., and Cheng,  H., 2000, “Object-Oriented Cam Design Through the Internet,” J. Intell. Manufacturing, 11, pp. 515–534.
Online CAD tools, UC Davis. (http://iel.ucdavis.edu/design/).
Berretty, R.-P., Goldberg, K., Cheung, L., Overmars, M., Smith, G., and van der Stappen. A. F., 1999, “Trap Design for Vibratory Bow! Feeders,” Proc. IEEE Int. Con. Robot. Automat., Detroit, MI, pp. 2558–2563.
Smith, G., Lee, E., Goldberg, K., Bohringer, K., and Craig, J., 1999, “Computing Parallel-Jaw Grips,” Proc. IEEE Int. Con. Robot. Automat., Detroit, MI, pp. 1897–1903.
Trinkle,  J., and Paul,  R., 1990, “Planning for Dexterous Manipulation with Sliding Contacts,” Int. J. Robot. Res., 9(3), pp. 24–48.
Abell, T., and Erdmann, M., 1995, “Stably Supported Rotations of A Planar Polygon with Two Frictionless Contacts.” Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Pittsburgh, PA, pp. 411–418.
Rao,  A., Kriegman,  D., and Goldberg,  K., 1996, “A Complete Algorithm for Feeding Polyhedral Parts Using Pivot Grasps,” IEEE Trans. Robot. Automat., 12(2), pp. 331–42.
Lynch, K., 1999, “Toppling Manipulation,” Proc. IEEE Int. Con. Robot. Automat., Detroit, MI, pp. 2551–2557.
Lynch,  K. 1999, “Inexpensive Conveyor-Based Parts Feeding,” Assembly Automat., 19(3), pp. 209–215.
Zhang, M. T., Smith, G., and Goldberg, K., 2001, “Compensatory Grasping with the Parallel-Jaw Gripper,” Algorithmic and Computational Robotics: New Directions, A. K. Peters, Natick, MA, pp. 169–179.
Zhang, M. T., and Goldberg, K., 2001, “Design of Gripper Jaws Based on Trapezoidal Modules,” Proc. IEEE Int. Con. Robot. Automat., Seoul, Korea, pp. 1065–70.
Zhang,  M. T., and Goldberg,  K., 2002, “Gripper Point Contacts for Part Alignment,” IEEE Trans. Rob. Autom., 18(6), pp. 902–910.
Mason, M. T., 2001, Mechanics of Robot Manipulation, MIT Press.
Zhang, M. T., 2001, “Optimal Design of Robot Gripper Jaws,” Ph.D. dissertation, Dept. of Industrial Engineering and Operations Research, UC Berkeley.
Mishra,  B., Schwartz,  J., and Sharir,  M., 1987, “On the Existence and Synthesis of Multifinger Positive Grips,” Algorithmica, 2(4), pp. 541–558.
Preparata,  F., and Hong,  S., 1977, “Convex Hulls of Finite Sets of Points in Two and Three Dimensions,” Commun. ACM, 20(2), pp. 87–93.


Grahic Jump Location
Example planar gripper solution (shown in black) and user interface. Screenshot of Java applet that automatically designs trapezoidal jaw modules. These jaws will align the part from its initial resting orientation (shown at left) to a desired final orientation as the gripper is closed
Grahic Jump Location
A part in initial orientation with gripper jaws (trapezoidal jaw modules in black)
Grahic Jump Location
This gripper, designed by the CAD tool and machined from aluminum, rotates the part and grasps it securely at the desired orientation. The gripper performed successfully in each of 50 trials
Grahic Jump Location
A triangular part and the critical toppling region
Grahic Jump Location
Rolling function H and the plane of h=z3
Grahic Jump Location
Boundary of v3 to guarantee no jaw design solution
Grahic Jump Location
Geometric interpretation of the boundary




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In