Computer-Assisted Gripper and Fixture Customization
via Rapid Prototyping

5. Variations on the basic approach

Our simplistic description of automated tooling design has not yet addressed several important considerations. Several aspects, introduced briefly below, are subjects of our continuing research.

5.1 Compensating for concavities

5.2 Gripper stroke and approach clearance

5.3 Multipurpose grippers

5.4 Compensating for location uncertainty

5.5 Hypothesize and test analysis



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