Automated assembly of non-rigid objects

Abstract

Many assembled products contain parts that are not rigid, and there is a large variety of such parts, which might be as different as cables, sheet metals, plastic covers, or foams. The assembly processes of such products may also involve non-rigidity in the tools used. Non-rigidity in the parts and tools adds additional degrees of freedom to the assembly processes and systems, which, on the one hand, adds engineering complexity, and on the other hand, may be the key for superior solutions. This paper reviews recent developments in models, methods, handling techniques, and control of such parts at the assembly station and systems levels with a main focus on applications related to the manufacturing industry. The core areas of knowledge addressed by this paper cover advanced models for non-rigid objects, process and system planning, new tooling, and new control concepts based on perception and human-robot interaction. More research work is expected in the field of modelling and perception due to the development of computer vision, robotics, and artificial intelligence. New advances on the processing and assembly hardware can also be expected due to the highly active research field of soft material robotics and high-payload-gripping with soft material versatility.