Simulating robotic manipulation of cabling and interaction with surroundings

摘要

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.