Fig. 5
From: Automatic grasp planning for self-adjustable gripper frames
Composing the gripper zones for the tripod (left) and tetrapod (right) configurations. The gripper frame is automatically aligned with the product’s centre of area and principal axes of inertia. Legend: grey shape: product polygon; black dots: links; red lines: fixed joints; dark blue lines: linear joints; blue rectangles: gripper polygons; black dashed lines: gripper zones