Representation of Cable Harness for Assembly Sequence Planning

Zhou, Hanming; Lu, Qi; Qian, Jinwu

doi:10.1109/icarm54641.2022.9959289

Cited by 1 publication

(1 citation statement)

References 9 publications

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“…Thereby, the authors explicitly allow contacts by a DLO with the environment, and show that this can be required to find complete solutions for several tasks. Zhou et al [25] introduce a mathematical representation of cables and wire harnesses to qualify these DLOs for assembly sequence planning. Thereby, four different tasks for cables and wire harnesses are considered: plugging, routing, insertion, and obstacle avoidance.…”

Section: Assembly and Manipulation Planning Of Dlosmentioning

confidence: 99%

Grasp Analysis for the Robot-Based Manipulation of Pre-Assembled Cables with Electrical Connectors

et al. 2023

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The mounting of pre-assembled cables with electrical connectors is mainly carried out manually in industry today. An exemplary application is the interconnection of battery modules. Automation of such assembly tasks offers the potential for increasing efficiency but requires the design of suitable gripper systems. This is challenging as the cable induces state-dependent forces and torques on the gripper system, which must be transmitted via the complex surface geometries of the plugs. Currently, the required grasp force cannot be determined in advance but only after prototypes have been manufactured and with elaborate physical experiments. To overcome these drawbacks, we present a methodology for the grasp analysis of pre-assembled cables with electrical connectors. The novelty of this approach is to combine a physics simulation for deformable linear objects with a contact model for non-planar grasping surfaces. The results indicate that the cable deformation significantly affects the required grasp force. In addition, each combination of contact surface and dynamic cable deformation results in an individual grasp force course. The methodology enables comparison of different electrical connectors and their grasping surfaces, as well as cables and their manipulation paths, efficiently and with little expert knowledge.

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Section: Assembly and Manipulation Planning Of Dlosmentioning

confidence: 99%