Grips on parts

A grip planning module is presented. An algorithm for calculating regions on a part that cannot be gripped is described. Non-free regions exist because of finger size, contact with feeder and assembly, and forbidden surfaces on the part. A problem reduction method is presented that reduces the 3-D grasp planning problem to a number of 2 1/2-D subproblems based on the mechanical properties of industrial grippers. Adapted versions of known 2-D grasp planning algorithms can be used for grasp planning in the subproblems, of which two examples are given. The grip planning module is implemented, and results are presented.<
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