SGdesignGripperjaw
by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - ENG-Designs
Introduced first in SolidGeometry 5.3, Creation date: 2023-02-16, Last change: 2025-09-15
returns the geometry of gripper jaws, gripper finger and complete mechanisms for an object to grasp
Description
written in parallel to the explanation of the workflow for Jan Jan Rodewald and Dr. Yilun Sun.
Function defines and writes the geometry of gripper to disk. Major changes after the discussion for selceting the Frames
See Also: SGcutT
, TofPcam
Example Illustration
Syntax
[SGB,T0,TB]=SGdesignGripperjaw([SG,sz,sl,fp,"sub","surf"])
Input Parameter
SG: | | Object to be gripped |
sz: | | SG of maximum jaw or maximum dimensions of a cuboid |
sl: | | slot size; default is |
fp: | | Finger end solid; or position of a cuboid |
"sub": | | if used, the gripper jaw is cut by the SG |
"surf": | | if used, the gripper jaw is attached optimally to the surface orthognal vector |
Output Parameter
SGB: | | {SG1, SG2} Finger geometry with Frames 'B' to attach actuators |
T0: | | Center fram of movement in ez |
TB: | | Attachment Frames at object SG |
Examples
Videoquickstart; SGdesignGripperjaw(SGsphere([30,20,10])); Videoquickcloseandopen
Copyright 2023-2025 Tim C. Lueth. All rights reserved. The code is the property of Tim C. Lueth and may not be redistributed or modified without explicit written permission. This software may be used free of charge for academic research and teaching purposes only. Commercial use, redistribution, modification, or reverse engineering is strictly prohibited. Access to source code is restricted and granted only under specific agreements. For licensing inquiries or commercial use, please contact: Tim C. Lueth
Last html export of this page out of FM database by TL: 2025-09-21