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Robotized Assembly of a Wire Harness in a Car Production Line

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Abstract:

This paper addresses an engineering attempt of utilizing multiple robot arms in the assembly of deformable parts. The robot system developed in this research simulates a practically existing assembly process in an automobile plant where wrapped cables (wire harness) have to be fixed on the body of a car. This operation is performed by skilled workers and is considered to be difficult for automation. In this paper, a synthetic robotized solution is proposed for this process. For the first time, it realizes robotized assembly of a complex deformable object (wire harness) under a condition similar to an actual plant. Although some of the problems are simplified in the implementation, those critical to assemblies involving deformable objects are investigated and solved with experimental validation. Therefore, this research is expected to contribute to exploring the feasibility and potential of robotized assembly using deformable parts in actual plants.

Keywords: ASSEMBLY AUTOMATION; FLEXIBLE OBJECT HANDLING; MANIPULATION PLANNING; MARKER-BASED RECOGNITION; ROBOTIZED ASSEMBLY

Document Type: Research Article

DOI: https://doi.org/10.1163/016918610X551782

Affiliations: 1: Department of Aerospace Engineering, Tohoku University, Aoba-yama 6-6-01, Sendai 980-8579, Japan;, Email: jiangxin@space.mech.tohoku.ac.jp 2: Department of Aerospace Engineering, Tohoku University, Aoba-yama 6-6-01, Sendai 980-8579, Japan 3: Motomachi Plant, Toyota Motor Corporation, 1 Motomachi, Toyota City 471-8573, Japan

Publication date: 2011-02-01

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