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Tolerance dataset: mating process of plug-in cable connectors for wire harness assembly tasks

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Abstract

In this research, we studied the mating tolerance of various plug-in cable connectors and provide a mating tolerance dataset of 70 different connectors. This dataset will be highly advantageous to industries for wire harness assembly tasks using robots. Understanding the mating tolerance is crucial for automating the mating process because it is closely related to the control specifications of a robotic manipulator. Our system uses a 2-finger Robotiq adaptive gripper attached to a 6 degree-of-freedom industrial robot (ABB Robotics) to test the mating process of wire harness assembly tasks. In addition, we use 70 types of wire harness connectors with different numbers of pins widths, lengths, and thicknesses, and various shapes, to test the mating tolerance. The results indicate that the connector mating tolerance of our dataset is more generous than the repeatability of conventional industrial manipulators, and further demonstrate the suitability of the position control methods to wire harness assembly tasks.

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Notes

  1. https://fryumbla.github.io/Manipulation/tolerance/.

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Acknowledgements

This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT and Future Planning (2016R1A2B4010880).

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Authors and Affiliations

  1. Department of Mechanical Engineering, Sungkyunkwan University, 2066, Seobu-ro, Jangan-gu, Suwon, Republic of Korea

    Francisco Yumbla, June-Sup Yi, Meseret Abayebas & Hyungpil Moon

  2. Faculty of Mechanical and Production Sciences Engineering, ESPOL Polytechnic University, Campus Gustavo Galindo Km 30.5 Vía Perimetral, P.O. Box 09-01-5863, Guayaquil, Ecuador

    Francisco Yumbla

  3. Department of Electrical Engineering, Brandenburg University of Technology Cottbus-Senftenberg Universitätsplatz 1, 01968, Senftenberg, Germany

    Mahir Shafiyev

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  1. Francisco Yumbla
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  2. June-Sup Yi
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  4. Mahir Shafiyev
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  5. Hyungpil Moon
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Correspondence to Hyungpil Moon.

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Yumbla, F., Yi, JS., Abayebas, M. et al. Tolerance dataset: mating process of plug-in cable connectors for wire harness assembly tasks. Intel Serv Robotics 13, 159–168 (2020). https://doi.org/10.1007/s11370-019-00307-5

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