Modeling Flexible Parts for Robotic Assembly Simulations

The handling of flexible components, such as rubber sealings or cables, is an essential part of industrial manufacturing. Automating such processes through robotics is still a major challenge. Machine learning-based training of robots in combination with simulation has led to promising results in ot...

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Bibliographic Details
Published in2022 10th International Conference on Systems and Control (ICSC) pp. 528 - 533
Main Authors Godrich, Axel, Schmidt-Vollus, Ronald, Holzer, Christian, Jehle, Georg, Helldorfer, Bastian
Format Conference Proceeding
LanguageEnglish
Published IEEE 23.11.2022
Subjects
Computational modeling
Manufacturing
Robotic assembly
Rubber
Service robots
Structural rings
Training
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Summary:The handling of flexible components, such as rubber sealings or cables, is an essential part of industrial manufacturing. Automating such processes through robotics is still a major challenge. Machine learning-based training of robots in combination with simulation has led to promising results in other areas of robotics. This approach can potentially be applied to assembly tasks as well. However, current simulation tools for robotics generally do not have capabilities for simulating flexible bodies. In this work, an approach for modeling such flexible bodies is proposed, which can be implemented with most common robotic simulation programs. Using the example of a rubber O-ring sealing, this approach was tested in such program and the results were compared with a professional multi-body physics engine. Realistic behavior of the O-ring was achieved with relatively low computation times.
ISSN:2379-0067
DOI:10.1109/ICSC57768.2022.9993860