RoMaFo - Robotic system and machine vision for the assembly of deformable objects for customized production
Deformable linear objects (e.g., cables) are complex to handle due to their low stiffness and are therefore mainly assembled manually. The automation of this process offers the potential for improvement in terms of efficiency and ergonomics. To enable conventional industrial robots to assemble deformable objects automatically, optical sensor technology is used. This is implemented in form of a robotic system that is fully integrated into the production planning and control so that production in batch size 1 can be realized.
Objective
The objective of this research project is to enable a robotic system for the automated assembly of deformable linear objects. For this purpose, a mechatronic gripping system is developed and approaches of machine vision are implemented to achieve automated programming of a conventional industrial robot. In addition to the implementation of an automated cable assembly, generally applicable gripping and plugging strategies are developed. For the successful application in practice, the entire process chain of an assembly process is considered. Besides, further sensors are taken into account for the quality inspection. The newly developed methods, approaches, and solutions offer great potential to increase efficiency and ergonomics for the assembly of deformable linear objects since such processes are still nowadays performed manually.
Project modules
- Machine vision: 3D camera for detection and localization of deformable linear components
- Gripping technology: Development of a mechatronic gripping system for deformable linear components
- Robotics: Automated handling and path planning of deformable linear components
Consortium
The consortium consists of the Institute for Machine Tools and Industrial Management of the Technical University of Munich, five project partners (ZS Anlagenbau GmbH, Roboception GmbH, ITQ GmbH, Mangelberger Elektrotechnik GmbH, Rohde & Schwarz Messgerätebau GmbH) and one associate partner (wenglor MEL GmbH).