Simulating robotic manipulation of cabling and interaction with surroundings

The manipulation of non-rigid parts, particularly cabling structures, such as the cable harness, raises various issues that require dealing with complex modeling. The first important issue is the prediction of the shape of flexible parts itself. Also, addressing collision detection problems is of hi...

Full description

Saved in:
Bibliographic Details
Published inInternational journal of advanced manufacturing technology Vol. 96; no. 5-8; pp. 2183 - 2193
Main Authors Papacharalampopoulos, A., Aivaliotis, P., Makris, S.
Format Journal Article
LanguageEnglish
Published London Springer London 01.05.2018
Springer Nature B.V
Subjects
Algorithms
Automation
Automobile industry
Automotive engineering
Automotive parts
Cables
CAE) and Design
Collision dynamics
Computer simulation
Computer-Aided Engineering (CAD
Engineering
Industrial and Production Engineering
Manufacturing engineering
Mechanical Engineering
Media Management
Modelling
Original Article
Rigid structures
Rigid-body dynamics
Wiring harnesses
Harness assembly
Bodies contact
Simulation
Flexible parts handling
Dual arm
Cable shape prediction
Assembly parts interaction
Collision avoidance
Online AccessGet full text

Cover

More Information
Summary:The manipulation of non-rigid parts, particularly cabling structures, such as the cable harness, raises various issues that require dealing with complex modeling. The first important issue is the prediction of the shape of flexible parts itself. Also, addressing collision detection problems is of high importance. However, both are computationally intensive problems, as well as coupled. More specifically, regarding modeling, the structure of a harness can affect the mechanics (regardless of whether it is modeled like a cable). In this paper, such phenomena have been taken into account. What is more, collision detection between cables and rigid bodies is performed, regarding a quasi-static approach. Furthermore, cable-cable interaction cases are also addressed with the herein presented algorithm. A methodology, based on the geometrical characteristics of a cable, is given, and illustration from implementation in a commercial software is discussed. The simulation of an industrial case of assembling cabling harness in automotive sector is used to prove the usability of the algorithm and the modeling.
ISSN:0268-3768
1433-3015
DOI:10.1007/s00170-018-1675-9