{"id":"https://openalex.org/W2074647697","doi":"https://doi.org/10.1115/1.1640655","title":"A Computer-Aided Design Tool in Java for Planar Gripper Design","display_name":"A Computer-Aided Design Tool in Java for Planar Gripper Design","publication_year":2004,"publication_date":"2004-03-01","ids":{"openalex":"https://openalex.org/W2074647697","doi":"https://doi.org/10.1115/1.1640655","mag":"2074647697"},"language":"en","primary_location":{"id":"doi:10.1115/1.1640655","is_oa":false,"landing_page_url":"https://doi.org/10.1115/1.1640655","pdf_url":null,"source":{"id":"https://openalex.org/S173178594","display_name":"Journal of Computing and Information Science in Engineering","issn_l":"1530-9827","issn":["1530-9827","1944-7078"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310316053","host_organization_name":"ASM International","host_organization_lineage":["https://openalex.org/P4310316053"],"host_organization_lineage_names":["ASM International"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Computing and Information Science in Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003835600","display_name":"Mike Tao Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mike Tao Zhang","raw_affiliation_strings":["Intel Products (Shanghai) Ltd., 999 Ying Lun Road, Waigaoqiao Free Trade Zone, Shanghai, China\u2009200122"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intel Products (Shanghai) Ltd., 999 Ying Lun Road, Waigaoqiao Free Trade Zone, Shanghai, China\u2009200122","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010019244","display_name":"Ken Goldberg","orcid":"https://orcid.org/0000-0001-6747-9499"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ken Goldberg","raw_affiliation_strings":["Dept. of Industrial Eng. & Operations Research and Dept. of Electrical Eng. & Computer Science, University of California, Berkeley, CA\u200994720\u20131777"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Industrial Eng. & Operations Research and Dept. of Electrical Eng. & Computer Science, University of California, Berkeley, CA\u200994720\u20131777","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.743,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.86617379,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"4","issue":"1","first_page":"43","last_page":"48"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11159","display_name":"Manufacturing Process and Optimization","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/cad","display_name":"CAD","score":0.8516668081283569},{"id":"https://openalex.org/keywords/java-applet","display_name":"Java applet","score":0.804274320602417},{"id":"https://openalex.org/keywords/java","display_name":"Java","score":0.7468138337135315},{"id":"https://openalex.org/keywords/computer-aided-design","display_name":"Computer Aided Design","score":0.6648159623146057},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5914027094841003},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.5639925003051758},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5480714440345764},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5179190039634705},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.48500630259513855},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.47479647397994995},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4141755700111389},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2872704267501831},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.2766401767730713},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.23936811089515686},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18887856602668762},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.1643218696117401},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.1514083743095398},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11469581723213196},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08010861277580261}],"concepts":[{"id":"https://openalex.org/C194789388","wikidata":"https://www.wikidata.org/wiki/Q17855283","display_name":"CAD","level":2,"score":0.8516668081283569},{"id":"https://openalex.org/C15524039","wikidata":"https://www.wikidata.org/wiki/Q865817","display_name":"Java applet","level":3,"score":0.804274320602417},{"id":"https://openalex.org/C548217200","wikidata":"https://www.wikidata.org/wiki/Q251","display_name":"Java","level":2,"score":0.7468138337135315},{"id":"https://openalex.org/C119823426","wikidata":"https://www.wikidata.org/wiki/Q184793","display_name":"Computer Aided Design","level":2,"score":0.6648159623146057},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5914027094841003},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.5639925003051758},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5480714440345764},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5179190039634705},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.48500630259513855},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.47479647397994995},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4141755700111389},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2872704267501831},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.2766401767730713},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.23936811089515686},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18887856602668762},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.1643218696117401},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.1514083743095398},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11469581723213196},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08010861277580261}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1115/1.1640655","is_oa":false,"landing_page_url":"https://doi.org/10.1115/1.1640655","pdf_url":null,"source":{"id":"https://openalex.org/S173178594","display_name":"Journal of Computing and Information Science in Engineering","issn_l":"1530-9827","issn":["1530-9827","1944-7078"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310316053","host_organization_name":"ASM International","host_organization_lineage":["https://openalex.org/P4310316053"],"host_organization_lineage_names":["ASM International"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Computing and Information Science in Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.44999998807907104}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1561490822","https://openalex.org/W1762028192","https://openalex.org/W1964552838","https://openalex.org/W1999061097","https://openalex.org/W2013833162","https://openalex.org/W2026079690","https://openalex.org/W2035457135","https://openalex.org/W2041775009","https://openalex.org/W2049767082","https://openalex.org/W2058202899","https://openalex.org/W2067796549","https://openalex.org/W2099635486","https://openalex.org/W2133822059","https://openalex.org/W2144216703","https://openalex.org/W2147534023","https://openalex.org/W2159375617","https://openalex.org/W2167455001","https://openalex.org/W2168806688","https://openalex.org/W2295333855","https://openalex.org/W3130101604","https://openalex.org/W3131562039","https://openalex.org/W4242073101","https://openalex.org/W6656983596"],"related_works":["https://openalex.org/W2344780600","https://openalex.org/W2473435377","https://openalex.org/W2096381758","https://openalex.org/W2028753068","https://openalex.org/W650470976","https://openalex.org/W626257650","https://openalex.org/W625186032","https://openalex.org/W3138375902","https://openalex.org/W2315696258","https://openalex.org/W3165919579"],"abstract_inverted_index":{"We":[0,57,77],"describe":[1,40],"an":[2],"Internet-based":[3],"CAD":[4,42,75,103],"tool":[5],"that":[6,11,49,94],"automatically":[7],"designs":[8],"gripper":[9,70],"jaws":[10],"will":[12],"rotate":[13],"a":[14,21,27,63,82,89,107],"given":[15],"rigid":[16],"convex":[17],"polygonal":[18],"part":[19,66],"from":[20],"selected":[22],"stable":[23],"resting":[24],"orientation":[25,30],"to":[26,31],"desired":[28],"final":[29],"facilitate":[32],"insertion":[33],"or":[34],"assembly.":[35],"In":[36],"this":[37],"paper":[38],"we":[39],"the":[41,68,74,99],"algorithm,":[43],"its":[44],"Java":[45,108],"implementation,":[46],"and":[47,53,67,87],"improvements":[48],"relax":[50],"input":[51],"specifications":[52],"improve":[54],"computational":[55],"efficiency.":[56],"illustrate":[58],"with":[59,98],"physical":[60],"experiments":[61],"using":[62],"machined":[64],"aluminum":[65],"resulting":[69],"as":[71,106],"designed":[72],"by":[73],"tool.":[76],"also":[78],"consider":[79],"cases":[80],"where":[81],"solution":[83],"may":[84],"not":[85],"exist":[86],"derive":[88],"class":[90],"of":[91],"triangular":[92],"parts":[93],"cannot":[95],"be":[96],"rotated":[97],"planar":[100],"grippers.":[101],"The":[102],"tool,":[104],"implemented":[105],"applet,":[109],"is":[110],"available":[111],"online":[112],"at":[113],"www.ieor.berkeley.edu/\u223cgoldberg/sa-gripper/.":[114]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
