In this paper, we suggest gripper quality metrics that indicate the performance of a gripper given an object CAD model and a task description. Those, we argue, can be used in the design and selection of an appropriate gripper when the task is known. We present three different gripper metrics that to some degree build on existing grasp quality metrics and demonstrate these on a selection of parallel jaw grippers. We furthermore demonstrate the performance of the metrics in three different industrial task contexts.
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