Automated Grasp Planning and Finger Design Space Search Using Multiple Grasp Quality Measures

Roshan Kumar Hota, Gaoyuan Liu, Bleke Decraemer, Barry Swevels, Sofie Burggraeve, Tom Verstraten, Bram Vanderborght, Greet Van de Perre

Research output: Contribution to journalArticlepeer-review


As the industry shifts to automated manufacturing and the assembly of parts in smaller batches, there is a clear need for an efficient design of grippers. This paper presents a method for automated grasp planning and finger design for multiple parts using four grasp quality measures that capture the following important requirements for grasping: (i) uniform contact force distribution; (ii) better gravity wrench resistance; (iii) robustness against gripper positioning error; and (iv) ability to resist larger external wrench on the object. We introduce the fingertip score to quantify the grasp performance of a fingertip design over all the objects. The method takes the CAD model of the objects as the input and outputs the optimal grasp location and the best finger design. We use the method for a three-point grasp with a parallel jaw gripper. We validate our method on two sets of objects. Results show how each grasp quality measure behaves on different objects and the variation in the fingertip score with finger design. Finally, we test the effectiveness of the optimal finger design experimentally. The three-point grasp is suitable for grasping objects larger than is possible with shape-matching fingertips.
Original languageEnglish
Article number74
Number of pages31
Issue number5
Publication statusPublished - 9 May 2024

Bibliographical note

Funding Information:
This research was supported in the FROGS project (Flanders Make\u2014ICON FROGS HBC.2020.2007) by Flanders Make, the strategic research center for the manufacturing industry. Greet Van de Perre is a postdoctoral fellow of the Research Foundation Flanders (FWO) (12APZ24N).

Publisher Copyright:
© 2024 by the authors.


  • automated finger design
  • grasp planning
  • grasp quality measures
  • gripper design
  • parallel-jaw gripper
  • grasping


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