Robotic Wire Pinning for Wire Harness Assembly Automation

Tunstel, Edward; Dani, Ashwin P.; Martínez, Carlos Alfonso Díaz; Blakeslee, Brigid; Mendoza, Jeff M.; Saltus, Ryan; Trombetta, Daniel; Rotithor, Ghananeel; Fuhlbrigge, Tom; Lasko, Daniel T.; Wang, Jianjun

doi:10.1109/aim43001.2020.9158905

Cited by 6 publications

(11 citation statements)

References 9 publications

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“…They concluded that their dataset, obtained using a CAD system, has a good tolerance [17]. A related study, titled: "Robotic Wire Pinning for Wire Harness Assembly Automation", was developed by Tunstel et al [13] using a cobot to establish a possible automation solution to insert a wire in an electrical terminal.…”

Section: Methodsmentioning

confidence: 99%

“…It is also a process that a cobot can carry out. In the papers by Tunstel et al [13] and Yumbla et al [17], they carry out their research on the tasks of connecting the male-female connectors. Nguyen and Yoon [19] and Heisler et al [22] work on the cobot's task to place a wire harness on an assembly board.…”

Section: Collaborative Robots and Their Grippersmentioning

confidence: 99%

“…The advantages of a collaborative assembly process are mixing the flexibility, creativity, and skill of quickly making decisions of humans with cobots' accuracy, repeatability, and payload [10][11][12]. Another advantage is the reduction in repetitive tasks that generate fatigue in humans producing a reduction in quality and increasing the cost of production [13].…”

Section: Introductionmentioning

confidence: 99%

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Wire Harness Assembly Process Supported by Collaborative Robots: Literature Review and Call for R&D

et al. 2022

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The wire harness assembly process is a complicated manufacturing activity, which is becoming more complex because of the evolving nature of mechatronic and electronic products that require more connectors, sensors, controllers, communication networking, etc. Furthermore, the demand for wire harnesses continues to grow in all industries worldwide as the majority of equipment, appliances, machinery, vehicles, etc., are becoming “smart” (i.e., more mechatronic or electronic). Moreover, most of the wire harness assembly process tasks are done manually, and most of these are considered non-ergonomic for human assembly workers. Hence, the wire harness manufacturing industry is faced with the challenge of increasing productivity while improving the occupational health of its human assembly workers. The purpose of this paper is to conduct a literature review exploring the state of the use of collaborative robots in the wire harness assembly process due to their potential to reduce current occupational health problems for human assembly workers and increase the throughput of wire harness assembly lines, and to provide main findings, discussion, and further research directions for collaborative robotics in this application domain. Eleven papers were found in the scientific literature. All papers demonstrated the potential of collaborative robots to improve the productivity of wire harness assembly lines, and two of these in particular on the ergonomics of the wire harness assembly process. None of the papers reviewed presented a cost–benefit or a cycle time analysis to qualitatively and/or quantitatively measure the impact of the incorporation of collaborative robots in the wire harness assembly process. This represents an important area of opportunity for research with relevance to industry. Three papers remark on the importance of the integration of computer vision systems into a collaborative wire harness assembly process to make this more versatile as many types of wire harnesses exist. The literature review findings call for further research and technological developments in support of the wire harness manufacturing industry and its workers in four main categories: (i) Collaborative Robotics and Grippers, (ii) Ergonomics, (iii) Computer Vision Systems, and (iv) Implementation Methodologies.

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Section: Methodsmentioning

confidence: 99%

Section: Collaborative Robots and Their Grippersmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Wire Harness Assembly Process Supported by Collaborative Robots: Literature Review and Call for R&D

et al. 2022

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“…The pose transformation e p (t) can be viewed as the pose error that indicates the deviation of the current camera frame F c from the goal camera frame F c * . In (1),…”

Section: Problem Formulationmentioning

confidence: 99%

“…The pin may not always be in the FOV of the camera attached to robot end-effector. In such cases to insert the wire into the pin, a learned DMP can be used to generate the motion that takes the wire near to the pin before the visual feedback of the pin is available [1]. Motivated by such examples, a methodology that unifies DMP [2] and Image-based Visual Servoing (IBVS) [3] is proposed in this paper.…”

Section: Introductionmentioning

confidence: 99%

Combining Motion Primitives and Image-Based Visual Servo Control

Rotithor

Dani

2020

2020 International Symposium on Flexible Automation

Self Cite

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Combining perception feedback control with learning-based open-loop motion generation for the robot’s end-effector control is an attractive solution for many robotic manufacturing tasks. For instance, while performing a peg-in-the-hole or an insertion task when the hole or the recipient part is not visible in the eye-in-the-hand camera, an open-loop learning-based motion primitive method can be used to generate end-effector path. Once the recipient part is in the field of view (FOV), visual servo control can be used to control the motion of the robot. Inspired by such applications, this paper presents a control scheme that switches between Dynamic Movement Primitives (DMPs) and Image-based Visual Servo (IBVS) control combining end-effector control with perception-based feedback control. A simulation result is performed that switches the controller between DMP and IBVS to verify the performance of the proposed control methodology.

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Robotic Assembly with Deformable Objects

Shneor,

Berman

2023

Automation, Collaboration, &Amp; E-Services

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Robotic Wire Pinning for Wire Harness Assembly Automation

Cited by 6 publications

References 9 publications

Wire Harness Assembly Process Supported by Collaborative Robots: Literature Review and Call for R&D

Wire Harness Assembly Process Supported by Collaborative Robots: Literature Review and Call for R&D

Combining Motion Primitives and Image-Based Visual Servo Control

Robotic Assembly with Deformable Objects

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