Modeling Flexible Parts for Robotic Assembly Simulations

  • The handling of flexible components, such as rubber sealings or cables, is an essential part of industrial manufacturing. Automating such processes through robotics is still a major challenge. Machine learning-based training of robots in combination with simulation has led to promising results in other areas of robotics. This approach can potentially be applied to assembly tasks as well. However, current simulation tools for robotics generally do not have capabilities for simulating flexible bodies. In this work, an approach for modeling such flexible bodies is proposed, which can be implemented with most common robotic simulation programs. Using the example of a rubber O-ring sealing, this approach was tested in such program and the results were compared with a professional multi-body physics engine. Realistic behavior of the O-ring was achieved with relatively low computation times.

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Metadaten
Author:Axel Gödrich, Ronald Schmidt-Vollus, Christian Hölzer, Georg Jehle, Bastian Helldorfer
DOI:https://doi.org/10.1109/ICSC57768.2022.9993860
Parent Title (English):2022 10th International Conference on Systems and Control (ICSC)
Publisher:IEEE
Document Type:conference proceeding (article)
Language:English
Date of first Publication:2023/01/03
Release Date:2024/09/10
Tag:Structural rings , Training , Robotic assembly , Service robots , Computational modeling , Manufacturing , Rubber
Pagenumber:6
institutes:Fakultät für Elektrotechnik Feinwerktechnik Informationstechnik
Fakultät Maschinenbau und Versorgungstechnik
Research Themes:Materialien & Produktionstechnik
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