发表机构
Sogang University; DAEHA CABLE CO., LTD.（西江大学; 大河电缆有限公司）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究针对柔性密集几何约束下的扁平带状电缆线束多端子插入难题，开发了纯机械序列的传感器极简自动组装系统，经80次试验端到端成功率达83.75%，为多针壳体的FRCH端子-壳体自动组装提供了首个原型。
AI 中文摘要
本文提出一种传感器用量极少的双向单行扁平带状电缆线束（FRCHs）自动组装系统。与传统的轴孔配合或单端子插入任务不同，FRCH组装涉及柔性且密集几何约束下的机械耦合多端子插入。为解决该问题，所提系统通过纯机械序列完成组装，包括电缆对齐、倾斜滑动、编织和夹紧，不依赖主动传感或视觉。每个机构设计用于逐步减少相关端子错位、插入干扰和最终锁定前的不稳定性。对双向单行FRCHs的实验在80次试验中实现了83.75%的端到端流程成功率，前半段和后半段的成功率分别为85.0%和82.5%。半速运行下的周期时间为33秒。据我们所知，该研究提供了首个用于多针壳体的FRCH端子-壳体自动组装原型。
英文摘要
This paper presents a sensor-minimal automated assembly system for bidirectional single-row flat ribbon cable harnesses (FRCHs). Unlike conventional peg-in-hole or single-terminal insertion tasks, FRCH assembly involves mechanically coupled multi-terminal insertion under flexible and dense geometric constraints. To address this problem, the proposed system performs the assembly through a purely mechanical sequence consisting of Cable Alignment, Lean & Slide, Weaving, and Clamping, without relying on active sensing or vision. Each mechanism is designed to progressively reduce correlated terminal misalignment, insertion interference, and instability before final locking. Experiments on bidirectional single-row FRCHs achieved an 83.75% end-to-end process success rate over 80 trials, with success rates of 85.0% and 82.5% in the first and second halves, respectively. The cycle time was 33 s under half-speed operation. To the best of our knowledge, this work presents the first automated prototype for FRCH terminal-to-housing assembly for multi-pin housings.
CommentsUnder Review in IEEE Journal
