Object aligning and holding xtures for robotic assemblytasks are important in industry in order to successfully complete anassembly. However, the designing of a xture is usually done manually which can be a long and tedious process including many iterations,even for experienced engineers. This paper presents a method to designxtures automatically for use in robotic assemblies and pick-and-placetasks. To achieve this, a new automated method to design the cut-out fora xture is introduced. The method uses a parameterized version of theobject's imprint to design the cut-out. The xtures generated using thismethod are optimized in simulations to determine their nal parametersfor a specic application. Dynamic simulations are used to evaluate eachiteration of the cut-out. Lastly, the method is applied to a use-case fromthe industry to design a xture for use in a robotic assembly task.