Fig. 14
From: Automatic grasp planning for self-adjustable gripper frames
Grasp planning results for the self-adjustable gripper frame applied on four polygons that idealise the actual products from Figs. 12d and 13a–c. In addition, the same grippers were applied on these manually engineered polygons and positioned by the metric with the largest Euclidean distance from the gripper frame’s centre. Note that due to the selected overlapping percentage, part of the gripper centroid area calculated for product b partially covers one of its holes. Legend: grey shape: product polygon; blue rectangles: gripper polygons; light orange areas: product-zone overlaps; dark orange areas: gripper centroid areas for the individual product, which are refined based on shared and interdependent joints