无需传感器的机械式线束端子自动装配系统，实现83.75%成功率
Automated Terminal-to-Housing Assembly System for Flat Ribbon Cable Harness
- 纯机械流程：对齐、倾斜滑移、编织、夹紧，逐步消除错位与干涉
- 80次试验中总成功率83.75%，前半段85.0%，后半段82.5%
- 适合自动化线束装配产线，尤其适用于多针密集排列场景
本文提出一种面向双向单排扁平线束（FRCH）的极简传感自动化装配系统。与传统插销或单端子插入不同，FRCH装配涉及在柔性且高密度几何约束下多个端子的机械耦合插入。所提系统通过纯机械流程——电缆对齐、倾斜滑移、编织与夹紧——完成装配，无需主动感知或视觉反馈。每个机构逐步减少端子错位、插入干扰及不稳定问题，最终实现锁定。在双向单排FRCH上进行80次试验，整体流程成功率达83.75%，前半段为85.0%，后半段为82.5%。半速运行下周期时间为33秒。据我们所知，这是首个针对多针连接器壳体的FRCH端子-壳体自动装配原型。
原文摘要 · Abstract (English)
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.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。