Fig. 7
From: Automatic grasp planning for self-adjustable gripper frames
Computing the gripper centroid areas for the tripod (left) and tetrapod (right) configurations. 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; light orange areas: product-zone overlaps; dark orange areas: gripper centroid areas for the individual product