Fig. 10
From: Automatic grasp planning for self-adjustable gripper frames
Deriving feasible picking points on product families for the tetrapod gripper frame configuration. Legend: grey shape: product polygon; light orange areas: product-zone overlaps; black dashed lines: gripper centroid areas for the individual product, which are refined based on shared and interdependent joints; green areas: gripper centroid areas optimised for handling all four products using a single adjustment of the gripper frame