Finger design automation for industrial robot grippers: A review <s> Customized Design <s> In support of rapid-response manufacturing, we propose a new technique for automated design and fabrication of fixture and gripper tooling for mechanical assembly. Our technique uses geometric computations on CAD part descriptions to derive form and frictional form closure tooling. In addition, we invoke rapid prototyping technology to fabricate the computed tooling directly from the derived CAD descriptions. This paper introduces the concepts of our approach to automatic tooling generation, illustrates initial results, and surveys the additional work to be done to further exploit the technique. <s> BIB001 </s> Finger design automation for industrial robot grippers: A review <s> Customized Design <s> This paper reports a rule based approach to the gripper selection problem in assembly cells. We deal with gripper's morphology, fingertip and actuation. The goal of the project is to develop a set of rules, based on the formalization of the gripper-selection expert's know-how and reasoning methods. Once the rules are achieved, we point out which parameters, concerning the part handled and process needed, are to be known to correctly choose a gripper. <s> BIB002
Unlike modular and reconfigurable designs using general fingers for grasping an object, some studies design customized fingers for each workpiece  BIB001  BIB002 ). BIB001 propose a quick technique for automated design and production of paralleljaw gripper fingers. In support of agile manufacturing demands, they consider rapid prototyping in their approach for designing fingers. The proposed method assumes the fingers to be solid uniform volumes. By subtracting the geometry of the workpiece from the fingers block, they try to achieve a customized finger design. By this approach, the workpiece will be constrained in almost fully enveloped (form-closure) grasp. Pros: These methods are simple, quick and require few inputs from the user. Cons: These approaches do not provide a solution for every shape, e.g. axisymmetric shapes. Recently a commercial web-based automated finger design tool called eGrip is launched by SCHUNK (eGrip, 2015) that uses a similar approach as BIB001 . The method implemented in the tool is patented  . In the tool, the user first imports the workpiece CAD model (STereoLithography (STL))) and then selects a gripper from SCHUNK's gripper library. Then the planed grasp approach is required to be defined by the user. By providing these inputs, the tool generates fingers using form-closure grasp. This method suffers the same problem as BIB001 and cannot guarantee formclosure grasp solution for every object. BIB002 present a method which is the combination of modular and customized designs. To design fingers for a parallel-jaw gripper, the method beings by approximating the workpiece to simple geometries, such as sphere, cylinder and cube. Then it selects a set of fingers for approximated geometry from a finger library. In the last step, selected fingers are customized to match the dimension of the workpiece such that fingertips fit the objects surface contour.