All convex polyhedra can be clamped with parallel jaw grippers

Prosenjit Bose, David Bremner, Godfried Toussaint

Research output: Contribution to journalArticlepeer-review


We study various classes of polyhedra that can be clamped using parallel jaw grippers. We show that all n-vertex convex polyhedra can be clamped regardless of the gripper size and present an O(n + k) time algorithm to compute all positions of a polyhedron that allow a valid clamp where k is the number of antipodal pairs of features. We also observe that all terrain polyhedra and orthogonal polyhedra can be clamped and a valid clamp can be found in linear time. Finally we show that all polyhedra can be clamped with some size of gripper.

Original languageEnglish (US)
Pages (from-to)291-302
Number of pages12
JournalComputational Geometry: Theory and Applications
Issue number5
StatePublished - Sep 1996

ASJC Scopus subject areas

  • Computer Science Applications
  • Geometry and Topology
  • Control and Optimization
  • Computational Theory and Mathematics
  • Computational Mathematics


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