Simulated Mounting of a Flexible Wire for Automated Assembly of Vehicle Cabling Systems

Leão, Gonçalo; Sousa, Armando; Dinis, David; Veiga, Germano

doi:10.1007/978-3-031-21065-5_32

Cited by 1 publication

(2 citation statements)

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“…It is also feasible to extend this work to include collisions between the cable and rigid obstacles involved in an assembly task. For the trajectory generation, a combination with the path planning approach for DLOs presented by [26] (see Section 2.3) could be suitable. Furthermore, this work is expected to be easily transferable to other DLO assembly applications, such as hydraulic hoses.…”

Section: Discussionmentioning

confidence: 99%

“…For these tasks, algebraic descriptions are derived based on the topological structure of the cables and harnesses. Leão et al [26] propose a model-based approach for the efficient path planning of DLOs using the physics engine MuJoCo. Here, the algorithm is tested with a scenario set up with simplified assembly jigs, plugs, and sockets.…”

Section: Assembly and Manipulation Planning Of Dlosmentioning

confidence: 99%

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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: Discussionmentioning

confidence: 99%

Section: Assembly and Manipulation Planning Of Dlosmentioning

confidence: 99%