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We also consider cases where a solution may not exist and derive a class of triangular parts that cannot be rotated with the planar grippers. The CAD tool, implemented as a Java applet, is available online at www.ieor.berkeley.edu\/\u223cgoldberg\/sa-gripper\/.<\/jats:p>","DOI":"10.1115\/1.1640655","type":"journal-article","created":{"date-parts":[[2004,3,23]],"date-time":"2004-03-23T23:06:01Z","timestamp":1080083161000},"page":"43-48","update-policy":"https:\/\/doi.org\/10.1115\/crossmarkpolicy-asme","source":"Crossref","is-referenced-by-count":4,"title":["A Computer-Aided Design Tool in Java for Planar Gripper Design"],"prefix":"10.1115","volume":"4","author":[{"given":"Mike","family":"Tao Zhang","sequence":"first","affiliation":[{"name":"Intel Products (Shanghai) Ltd., 999 Ying Lun Road, Waigaoqiao Free Trade Zone, Shanghai, China\u2009200122"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ken","family":"Goldberg","sequence":"additional","affiliation":[{"name":"Dept. of Industrial Eng. & Operations Research and Dept. of Electrical Eng. & Computer Science, University of California, Berkeley, CA\u200994720\u20131777"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"33","published-online":{"date-parts":[[2004,3,23]]},"reference":[{"key":"2019100521563494100_r1","unstructured":"The Geometry Center, University of Minnesota, http:\/\/www.geom.umn.edu\/apps."},{"key":"2019100521563494100_r2","unstructured":"The Remote Interactive Optimization Testbed (RIOT), UC Berkeley, http:\/\/riot.ieor.berkeley.edu\/."},{"key":"2019100521563494100_r3","doi-asserted-by":"crossref","unstructured":"Smith, C., and Wright, P., 1996, \u201cCyberCut: A World Wide Web Based Design to Fabrication Tool,\u201d J. 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