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

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2023

Autores

Leao, G (Autor) Outra; Armando Jorge Sousa (Autor) FEUP; Dinis, D (Autor) Outra; Veiga, G (Autor) Outra

Ata de Conferência Internacional

Título: Lecture Notes in Networks and Systems

Páginas: 385-397

5th Iberian Robotics Conference, ROBOT 2022

23 November 2022 through 25 November 2022

Indexação

ISI Web of Knowledge - 1 Citação

Scopus

Outras Informações

ID Authenticus: P-00X-KGA

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

Abstract (EN): The manipulation of deformable objects poses a significant challenge for the automotive industry. In particular, the assembly of flexible cables and wire-harnesses in vehicles is still performed manually as there is yet to be a reliable and general solution for this problem. This paper presents a simple yet efficient motion planning algorithm to mount a flexible wire in an assembly jig, where the wire must traverse a set of forks in order. The algorithm uses a heuristic based on a set of control points to guide the wire's movement. Various controlled assembly scenarios are built in simulation using MuJoCo, a physics engine that can emulate the dynamics of Deformable Linear Objects (DLO). Experimental results in simulation demonstrated that the amount and orientation of the forks has a large impact in the solution's performance and highlighted several key ideas and challenges moving forward. Thus, this work serves as a stepping stone towards the development of more complete solutions, capable of assembling flexible items in vehicles.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 13