RA-L 20260 citations
In-Hand Manipulation of the Connector for Cable Installation
Zhongkai Gu, Chufan Zhang, Xin Jiang
Abstract
The automation level in the assembly lines of leading automobile manufacturers can reach 80%-90%; however, the installation of automotive wire harnesses predominantly requires manual assembly. This is due to the challenges robots face when manipulating deformable parts. To mitigate this problem, we design a parallel gripper with embedded in-hand manipulation functions. The design is optimized for tackling the situations involving hanging cables which are common in assembly lines. It enables stable grasping of the cable connector, making precise plugging with traditional force control possible. The proposed method is validated by both simulation and experiments.
BibTeX
@inproceedings{ral2026_inhandmanipulati,
title = {In-Hand Manipulation of the Connector for Cable Installation},
author = {Zhongkai Gu and Chufan Zhang and Xin Jiang},
booktitle = {RA-L 2026},
year = {2026}
}