双腕ロボットを用いた製品組み立て工程におけるフラットケーブルの引掛け配線

抄録

This paper describes a manipulation method for Flat-Flexible-Cable(FFC). To construct electric produces, A FFC should insert on hooks shaped on a manufacturing component. We focus on this manipulation and propose novel end-effectors and inserting motion sequence. A dual-armed robot was used to proof them and we confirmed that the cabling task was achieved with acceptable success rate.