Computing parallel-jaw grips

We propose a new model for gripping parts with an industrial parallel-jaw gripper. In contrast to many previous models, we use two grip points and define candidate grips that are resistant to slipping and torque about the part´s center of mass. These grips must also be accessible and robust to perturbations in part position. We give an O(n ³) algorithm for computing and ranking O(n²) such grips on an n-sided polygonal slice through the part. The algorithm will be part of a design and simulation system that can rapidly provide feedback to designers; thus it must run quickly and reliably. We have also implemented the algorithm in a Java applet with a graphical user interface that allows Internet users to define a part; the applet computes, ranks, and displays the set of computed grips