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.
CITATION STYLE
Leão, G., Sousa, A., Dinis, D., & Veiga, G. (2023). Simulated Mounting of a Flexible Wire for Automated Assembly of Vehicle Cabling Systems. In Lecture Notes in Networks and Systems (Vol. 589 LNNS, pp. 385–397). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-031-21065-5_32
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