DocumentCode :
3096615
Title :
Modeling for Mating Process of Electric Connectors in Robotic Wiring Harness Assembly Systems
Author :
Huang, Jian ; Fukuda, Toshio ; Matsuno, Takayuki
Author_Institution :
Nagoya Univ., Nagoya
fYear :
2007
fDate :
5-8 Nov. 2007
Firstpage :
2829
Lastpage :
2834
Abstract :
Mating a pair of electric connectors is one of the most important steps in a robotic wiring harness assembly system. A piecewise linear force model is reported to describe the successful mating process of connectors via elaborate analysis of force during different phases. The corresponding parameter estimation method of this model is also presented by adapting regular least square estimation methods. A typical type of connectors are investigated in this paper. The results can be extended to other types easily. Experiments show that the presented model has good prospects in fault diagnostic tasks.
Keywords :
assembling; electric connectors; fault diagnosis; least squares approximations; manipulators; wiring; elaborate analysis; electric connectors; fault diagnostic task; mating process; parameter estimation method; piecewise linear force model; regular least square estimation methods; robotic wiring harness assembly systems; Assembly systems; Connectors; Design engineering; Fault diagnosis; Intelligent robots; Manufacturing automation; Parameter estimation; Robotic assembly; Robotics and automation; Wiring;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics Society, 2007. IECON 2007. 33rd Annual Conference of the IEEE
Conference_Location :
Taipei
ISSN :
1553-572X
Print_ISBN :
1-4244-0783-4
Type :
conf
DOI :
10.1109/IECON.2007.4460063
Filename :
4460063
Link To Document :
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