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To support high-speed mechanical search and self-aligning insertion of parts with tight tolerances and sensitive components, compliance directly proximal to the gripped object has been proposed in previous work, provided by structured compliance in additively manufactured grippers. The grippers are designed parametrically via the slicer software, allowing a quick iteration over the design parameters. Due to the design process, each combination has to be remodeled manually in CAD in order to be analyzed in simulations. This work focuses on the current modeling problem, by proposing a python script to directly abstract a solid from G-Code. The object reconstruction runtime and quality are compared to other state-of-the-art approaches achieving reconstruction up to 97.9% times faster for objects with a higher complexity by also achieving a high reconstruction quality. The reconstruction time can be accelerated further in future work, by implementing a script-based modeling.

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Optimized Data Preprocessing for Design of Passive Compliance via Solid Generation from G-Code

  • 会议论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年

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  • Richard Matthias Hartisch,
  • Danny Huang,
  • Patrick Kahl,
  • Linus Schneider,
  • Jörg Krüger

摘要

To support high-speed mechanical search and self-aligning insertion of parts with tight tolerances and sensitive components, compliance directly proximal to the gripped object has been proposed in previous work, provided by structured compliance in additively manufactured grippers. The grippers are designed parametrically via the slicer software, allowing a quick iteration over the design parameters. Due to the design process, each combination has to be remodeled manually in CAD in order to be analyzed in simulations. This work focuses on the current modeling problem, by proposing a python script to directly abstract a solid from G-Code. The object reconstruction runtime and quality are compared to other state-of-the-art approaches achieving reconstruction up to 97.9% times faster for objects with a higher complexity by also achieving a high reconstruction quality. The reconstruction time can be accelerated further in future work, by implementing a script-based modeling.