A 3-D modular gripper design tool

Modular fixturing kits are sets of components used for flexible, rapid construction of fixtures. A modular vise is a parallel-jaw vise, with a regular grid of precisely positioned holes on each jaw. Parts are held by placing pins in the holes so that when the vise is closed, the part is reliably located and completely constrained. The modular vise concept can be adapted easily to the design of modular parallel-jaw grippers for robots. By attaching a grid-plate to each jaw of a parallel-jaw gripper, we gain the ability to easily construct high-quality grasps for a wide variety of parts from a standard set of hardware. Wallack and Canny (1994, 1996) developed an algorithm for planning planar grasp configurations for the modular vise. In this paper, we expand this work to produce a 3D fixture/gripper design tool. We describe several analyses we have added to the planar algorithm, including a 3D grasp quality metric based on force information, 3D geometric loading analysis, and inter-gripper interference analysis. Finally, we describe two applications of our code. One of these is an internal application at Sandia, while the other shows a potential use of our code for designing part of an agile assembly line