Computing Parallel-Jaw Grip Points

0 ABSTRACT In this paper we propose a model for grasping with an industrial parallel-jaw gripper. Two points on the part are candidate ‘grip points’ if they are accessible and are resistant to frictional slip and torque. We formalize these conditions geometrically on a polygonal slice through the part's center of mass. We describe an efficient algorithm for computing and ranking all grip points for an n-sided polygonal slice. The algorithm is part of a design and simulation system that can rapidly provide feedback to designers; thus it must run quickly and reliably. We have implemented the algorithm in a Java applet with a graphical user interface that allows Internet users to define a part; the applet then computes, ranks, and displays the set of computed grip points. To try the applet, please visit: