Abstract
In this work, we propose a structured approach of selecting and designing a set of grippers for an assembly task. Compared to experience-based gripper design method, our approach speeds up the design process by automatically generating a set of initial design options on gripper type and parameters according to the CAD models of assembly components. We use mesh segmentation techniques to segment the assembly components and fit the segmented parts with shape primitives, according to the predefined correspondence between primitive shape and gripper type, suitable gripper types and parameters can be selected and extracted from the fitted shape primitives.
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