Javier González Huarte, Maite Ortiz de Zarate, Aitor Ibarguren
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引用次数: 0
Abstract
Wire harness manufacturing in the aeronautic sector is highly manual work, with production defined by multiple references and small batches. Although complete automation of the production process is not feasible, a robot-assisted approach could increase the efficiency of the existing production means. This paper presents a novel dual-arm robotic solution for workbench configuration and cable routing during the initial steps of wire harness manufacturing. Based on the CAD information of the wire harness, the proposed framework generates trajectories in real-time to complete the initial manufacturing tasks, dividing automatically the whole job between both robots. The presented approach has been validated in a production environment using different wire harness references, obtaining promising results and metrics.
期刊介绍：
Robotics publishes original papers, technical reports, case studies, review papers and tutorials in all the aspects of robotics. Special Issues devoted to important topics in advanced robotics will be published from time to time. It particularly welcomes those emerging methodologies and techniques which bridge theoretical studies and applications and have significant potential for real-world applications. It provides a forum for information exchange between professionals, academicians and engineers who are working in the area of robotics, helping them to disseminate research findings and to learn from each other’s work. Suitable topics include, but are not limited to: -intelligent robotics, mechatronics, and biomimetics -novel and biologically-inspired robotics -modelling, identification and control of robotic systems -biomedical, rehabilitation and surgical robotics -exoskeletons, prosthetics and artificial organs -AI, neural networks and fuzzy logic in robotics -multimodality human-machine interaction -wireless sensor networks for robot navigation -multi-sensor data fusion and SLAM
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