Title: Automatic Fingerpad Customization for Precise and Stable Grasping of 3D-Print Parts

Abstract: The rise in additive manufacturing comes with unique opportunities and challenges. Massive part customization and rapid design changes are made possible with additive manufacturing, however, manufacturing industries that desire the implementation of robotics automation to improve production efficiency could face challenges in the gripper design and grasp planning due to highly complex geometrical shapes resulting from massive part customization. Yet, current gripper design for such objects are often manual and rely on ad-hoc design intuition. This would be limiting as such grippers would lack the ability to grasp different objects or grasp points, which is important for practical implementations. Hence, we introduce a fast, end-to-end approach to customize rigid gripper fingerpads that could achieve precise and stable grasping for different objects at multiple grasp points. Our approach relies on two key components: (i) a method based on set Boolean operations, e.g. intersections, subtractions, and unions to extract object features and synthesize gripper surfaces that conform to different local shapes to form caging grasps; (ii) a method to evaluate the grasp quality of synthesized grippers. We experimentally demonstrate the validity of our approach by synthesizing fingerpads that, once mounted on a physical robot gripper, are able to grasp different objects at multiple grasp points, all with tightly constrained grasps.