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Analysis of institutional authors

Gómez Lambo, VirgilioAuthorAlvarez, DavidAuthorHernando, MiguelAuthorSanz, RicardoAuthor

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March 22, 2025
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Proceedings Paper
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Genetic Algorithms for Optimal Grasping in Automated 3D-Printed Part Extraction

Publicated to: Seventh Iberian Robotics Conference (ROBOT2024). In Proc. IEEE 7th Iberian Robot Conference. Madrid . - 2024-01-01 (), DOI: 10.1109/ROBOT61475.2024.10796913

Authors:

Garcia Torija, Enrique; Gomez Lambo, Virgilio; Khalil Kahlaoui, Mohamed; Alvarez, David; Hernando, Miguel; Sanz, Ricardo
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Affiliations

Univ Politecn Madrid, Autonomous Syst Lab, Madrid, Spain - Author
Univ Politecn Madrid, Ctr Automat & Robot, Madrid, Spain - Author

Abstract

This article presents a novel approach to automate the extraction of 3D printed parts using genetic algorithms for optimal grasp planning. The method addresses a key challenge in additive manufacturing: the automated removal of printed objects. Using information from the G-code file, our algorithm determines the most effective grasping pose for a robotic arm equipped with a two-finger gripper. The system considers multiple factors including collision avoidance, contact quality, and part geometry to optimize the grasp location. The solution was implemented using an industrial manipulator and integrated with a commercial 3D printer through a custom ROS 2 package. Experimental results demonstrate the effectiveness of our approach on simple geometries, successfully extracting printed parts without human intervention. While the method has certain limitations, this study lays the foundation for fully autonomous 3D printing workflows. Our research contributes to the broader goal of developing adaptive and self-sufficient manufacturing systems, paving the way for more efficient and flexible production processes in industry 4.0 environments.
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Keywords

3d-printed part extractio3d-printed part extractionAdditive manufacturingAutomated removalCollisions avoidanceContact qualityFactory automationFlexible manufacturing systemsG codesGenetic algorithmsGrasp planningGraspingGrippersIndustrial manipulatorsMultiple factorsOptimal graspingPrinting pressesRobot programmingRobotic armsSmart manufacturingTwo-finger gripper

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

Independientemente del impacto esperado determinado por el canal de difusión, es importante destacar el impacto real observado de la propia aportación.

Según las diferentes agencias de indexación, el número de citas acumuladas por esta publicación hasta la fecha 2026-04-24:

  • Scopus: 1
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Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2026-04-24:

  • The use of this contribution in bookmarks, code forks, additions to favorite lists for recurrent reading, as well as general views, indicates that someone is using the publication as a basis for their current work. This may be a notable indicator of future more formal and academic citations. This claim is supported by the result of the "Capture" indicator, which yields a total of: 2 (PlumX).

It is essential to present evidence supporting full alignment with institutional principles and guidelines on Open Science and the Conservation and Dissemination of Intellectual Heritage. A clear example of this is:

  • Assignment of a Handle/URN as an identifier within the deposit in the Institutional Repository: https://oa.upm.es/93348/

As a result of the publication of the work in the institutional repository, statistical usage data has been obtained that reflects its impact. In terms of dissemination, we can state that, as of

  • Views: 26
  • Downloads: 2
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Leadership analysis of institutional authors

There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: First Author (GARCIA TORIJA, ENRIQUE) and Last Author (SANZ BRAVO, RICARDO).

the author responsible for correspondence tasks has been GARCIA TORIJA, ENRIQUE.

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Awards linked to the item

This work has been supported by the METATOOL project with funding from the European Union's Horizon Europe research and innovation programme (Grant Agreement No. 101070940).
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