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
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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
Geometric interpretation of the boundary
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
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Rolling function H and the plane of h=z3
Grahic Jump Location
Boundary of v3 to guarantee no jaw design solution



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