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Robot Aware Computational Design of Object Specific Passive Grippers for Additive Manufacturing

arXiv · AI, language, vision and robotics · article · Sep 3, 2026 · UTC

This paper presents an end-to-end computational pipeline that converts a selected object mesh, a measured object state, and a selected six-axis robot into an object-specific, unactuated, additively manufacturable gripper. The method couples exact-mesh RGB-D/ICP pose registration, deterministic surface-contact sampling, uncertainty-aware wrench screening, selection among six passive capture mechanisms, object-conformal surface synthesis, full-orientation robot inverse kinematics, a swept-volume-aware manufacturing domain, directional fused-deposition finite-element screening, and constrained th

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