为特定物体设计可3D打印的被动夹爪，自动适配机器人抓取需求。
Robot Aware Computational Design of Object Specific Passive Grippers for Additive Manufacturing
- 基于物体形状与机器人姿态，自动生成适配的无源夹爪结构。
- 4个测试案例均通过拟合度、受力稳定性和制造可行性验证。
- 适合需要快速定制夹具的自动化装配场景，如工业3D打印应用。
本文提出一种端到端计算流程，将选定物体网格、实测物体姿态及六轴机器人转化为特定于该物体、无驱动、可3D打印的夹爪。方法融合精确网格的RGB-D/ICP位姿注册、确定性表面接触采样、不确定性感知的力矩筛选、六种被动抓取机制选择、物体贴合表面构建、全方向机器人逆运动学、扫掠体积感知的制造域设计、定向熔融沉积有限元筛查以及受约束的三维SIMP拓扑优化。所有设计均通过可追溯标识绑定原始网格、姿态、机器人法兰、接触集和插入假设。推导并证明了注册、接触、公差、有限元及密度优化的数学公式，确立节点载荷保持、SIMP插值下柔度单调敏感性及拓扑后处理中体素域包含性三类性质。四个存档案例——兔子、相机法兰、3DBenchy和多面人像——分别通过名义拟合、不确定力矩、运行时扫掠和基线/后拓扑有限元分析关卡。故意放大±3 mm、±5°的姿态应力测试中保留29至134/160次模拟试验，重构拓扑保留92.0%–97.6%的有限元域，因功能区域受保护。机器人照片展示对应打印装配，但因缺乏标定试件和仪器化测试，四者仍处于数字筛选状态而非实际部署。
原文摘要 · Abstract (English)
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 three-dimensional SIMP topology optimization. Unlike workflows that treat grasp selection, tool geometry, motion, and structural design as separate problems, every exported design is bound to the source mesh, object pose, robot flange, contact set, and insertion hypothesis by a traceable design identifier. We derive the implemented registration, contact, fit-tolerance, finite-element, and density-optimization equations and prove three properties of the numerical construction: nodal load preservation, monotonic compliance sensitivity under SIMP interpolation, and voxel-domain containment after topology post-processing. Four archived object-specific attempts - a rabbit, camera flange, 3DBenchy, and faceted bust - meet the nominal fit, uncertain-wrench, runtime-sweep, and baseline/post-topology FEA gates. A deliberately enlarged +/-3 mm, +/-5 degree pose stress check differentiates the designs, retaining 29-134 of 160 simulated trials. Their reconstructed topologies retain 92.0-97.6% of the FE domain because functional regions are protected. Archived robot photographs show the corresponding printed assemblies qualitatively, while nominal material properties and absent coupon-calibrated, instrumented tests keep all four at digital-screening status rather than operational release.
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