Gripping Parts at Concave Vertices

K.Gopalakrishnan & Ken Goldberg, U.C. Berkeley

  

This applet finds v-grips for polygonal parts with jaws of zero radii. These are then sorted based on a quality metric and listed as output. This is based on the paper "Gripping Parts at Concave Vertices" to appear in IEEE ICRA 2002.[pdf]

Directions: First, draw the required polygonal part in the white colored drawing area above. A left-click adds a vertex, and a right-click closes the polygon.

If the polygon drawn is a solid part, click the “Find v-grips for Solid Part” button. If the polygon is a hole in the part, click the “Find v-grips for Polygonal Hole” button.

The v-grips are then listed on the right, sorted by their sensitivity to small changes in the jaws’ position. Each line in the list has the serial numbers of the vertices involved in the v-grip followed by the quality metric for that grip. Double-clicking on any line in in the list highlights the corresponding v-grip.

This work was supported in part by the National Science Foundation under DMI-0010069 (Self-Aligning Grippers and Fixtures).

Any opinions, findings, and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect the views of the National Science Foundation.