Key Technologies and Development Trend of Robot Automatic Laying of Flexible Cables

doi:10.3901/JME.2022.17.075

Abstract

Abstract: Flexible cables are widely used in mechanical and electrical products. The laying of flexible cables is a very important but cumbersome and complex task. With the development and universal application of robot technology, the robot automatic laying technology of flexible cables has gradually attracted the attention of scholars at home and abroad. The robot automatic laying of flexible cables belongs to the robot automatic planning of flexible cables. Therefore, firstly, the research status of the robot automatic planning technology of flexible cables is summarized. Then the robot automatic laying technology of flexible cables is analyzed. Focusing on the robot automatic laying process of flexible cables on a plane, the overall process of the robot automatic laying of flexible cables is proposed, and the key technologies are introduced, including the implementation methods of the physical modeling, kinematic constraints, collision-contact response, robot single/dual-arm control automatic laying, and image processing of flexible cables. The simulation and experimental verification are also carried out with an example. Finally, the future development trend of the robot automatic laying technology of flexible cables is summarized and prospected.

Key words: flexible cable, robot, automatic laying, physical modeling, collision-contact response

CLC Number:

TP391

Lü Naijing, LIU Jianhua. Key Technologies and Development Trend of Robot Automatic Laying of Flexible Cables[J]. Journal of Mechanical Engineering, 2022, 58(17): 75-95.

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