TY - JOUR
T1 - Assembly path planning of cable harness based on reduced-dimensional equilibrium sampling
AU - Liu, Jiashun
AU - Liu, Jianhua
AU - Lin, Haili
AU - Ma, Jiangtao
N1 - Publisher Copyright:
© 2017, Editorial Department of CIMS. All right reserved.
PY - 2017/10/1
Y1 - 2017/10/1
N2 - Aiming at the difficulty on solving Assembly Path Problem (APP) of flexible cable harness automatically in complex products, an assembly path planning of cable harness was proposed based on Reduced-dimensional Equilibrium Sampling (RES). The Cosserat elastic rod theory was used for physical property modeling of cable harness. To plan the assembly path with sampling-based method, the guiding path was introduced to reduce the deformation space dimension of deformable objects. In the reduced-dimensional equilibrium space along the guiding path, the probabilistic roadmap was generated by sampling both end constraints of cable harness. A set of feasible equilibrium which was also the assembly path planning result was found. A cable assembly path planning system was developed and the proposed approach was tested on several scenarios for demonstration.
AB - Aiming at the difficulty on solving Assembly Path Problem (APP) of flexible cable harness automatically in complex products, an assembly path planning of cable harness was proposed based on Reduced-dimensional Equilibrium Sampling (RES). The Cosserat elastic rod theory was used for physical property modeling of cable harness. To plan the assembly path with sampling-based method, the guiding path was introduced to reduce the deformation space dimension of deformable objects. In the reduced-dimensional equilibrium space along the guiding path, the probabilistic roadmap was generated by sampling both end constraints of cable harness. A set of feasible equilibrium which was also the assembly path planning result was found. A cable assembly path planning system was developed and the proposed approach was tested on several scenarios for demonstration.
KW - Assembly path planning
KW - Cable harness
KW - Cosserat elastic rod
KW - Reduced-dimensional equilibrium sampling
UR - http://www.scopus.com/inward/record.url?scp=85035813070&partnerID=8YFLogxK
U2 - 10.13196/j.cims.2017.10.013
DO - 10.13196/j.cims.2017.10.013
M3 - Article
AN - SCOPUS:85035813070
SN - 1006-5911
VL - 23
SP - 2192
EP - 2199
JO - Jisuanji Jicheng Zhizao Xitong/Computer Integrated Manufacturing Systems, CIMS
JF - Jisuanji Jicheng Zhizao Xitong/Computer Integrated Manufacturing Systems, CIMS
IS - 10
ER -