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

Abstract

We describe an Internet-based CAD tool that automatically designs gripper jaws that will rotate a given rigid convex polygonal part from a selected stable resting orientation to a desired final orientation to facilitate insertion or assembly. In this paper we describe the CAD algorithm, its Java implementation, and improvements that relax input specifications and improve computational efficiency. We illustrate with physical experiments using a machined aluminum part and the resulting gripper as designed by the CAD tool. We also consider cases where a solution may not exist and derive a class of triangular parts that cannot be rotated with the planar grippers. The CAD tool, implemented as a Java applet, is available online at www.ieor.berkeley.edu/∼goldberg/sa-gripper/.