  In this paper, we present a structured approach to selecting and designing a
set of grippers for an assembly task. Compared to current experience-based
gripper design method, our approach accelerates the design process by
automatically generating a set of initial design options on gripper type and
parameters according to the CAD models of assembly components. We use mesh
segmentation techniques to segment the assembly components and fit the
segmented parts with shape primitives, according to the predefined
correspondence between primitive shape and gripper type, suitable gripper types
and parameters can be selected and extracted from the fitted shape primitives.
Moreover, we incorporate the assembly constraints in the further evaluation of
the initially obtained gripper types and parameters. Considering the affordance
of the segmented parts and the collision avoidance between the gripper and the
subassemblies, applicable gripper types and parameters can be filtered from the
initial options. Among the applicable gripper configurations, we further
optimize number of grippers for performing the assembly task, by exploring the
gripper that is able to handle multiple assembly components during the
assembly. Finally, the feasibility of the designed grippers is experimentally
verified by assembling a part of an industrial product.
