Design of a Gripper for Cable Assembly with Integrated In-hand Cable Manipulation Functions

被引：0
|
作者：
Zhou, Yanling [1 ]
Jiang, Xin [1 ]
Chen, Dayuan [1 ]
Guo, Yuhao [1 ]
Liu, Yunhui [2 ]
机构：
[1] Harbin Inst Technol, Dept Mech Engn & Automat, HIT Campus Shenzhen Univ Town, Shenzhen 518055, Peoples R China
[2] Chinese Univ Hong Kong, Dept Mech & Automat Engn, Hong Kong, Peoples R China
来源：
2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE-ROBIO 2021) | 2021年
基金：
中国国家自然科学基金;
关键词：
D O I：
10.1109/ROBIO54168.2021.9739398
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Cable manipulation is widely used in industrial production (e.g., assembly of automotive wiring harnesses, wiring of electrical products etc.). Currently it is realized mainly by manual work in industry, which requires a lot of labor and time, and lacks flexibility. It is a challenge for a robot to operate cables, because when a robot grips a cable, it needs to perform many types of operations (e.g., twisting, dragging, sliding etc.) according to the pose and topological state of the cable. Traditionally these functions are realized by moving the robot arm with respect to the point where the cable is gripped. It is inefficient in many situations. To solve the aforementioned problems, in this paper, we propose a design of gripper integrated with functions for in-hand manipulation of cables. The validation experiments demonstrated its effectiveness and potential usage in solving many difficult problems involved in cable assembly.
引用
收藏
页码：1929 / 1934
页数：6
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