A Case Study on Automated Manipulation for Hooking Wiring of Flexible Flat Cables

摘要

This paper describes a case study of Flexible Flat Cable(FFC) manipulation. We focus on a task of the hooking wiring, and propose methods for achieving it. First, we arranged the procedure of hooking wiring. In order to wire stably, we determined how to place and insert FFCs into the hooks. Next, with the premise of using a dual-arm robot, the role of each arm was decided. Then, we designed and produced end-effectors to achieve those roles. Finally, the effectiveness of the proposed methods was proven by means of actual experiments using a workpiece equipped multiple types of hooks. Some findings through the experiments are also introduced qualitatively.