Prediction of cabling shape during robotic manipulation

  • A. Papacharalampopoulos
  • S. Makris
  • A. Bitzios
  • G. ChryssolourisEmail author
Open Access


The manufacturing assembly process includes the manipulation of rigid and non-rigid parts. This paper discusses a method for the estimation of the cables’ shape for robotic manipulation. The paper uses methods that take into account the mechanical behaviour of materials. More specifically, in the framework of static analyses, a higher-order analytic model of cables is introduced and the need for model calibration is pointed out. To this effect, analytical solutions are compared against experimental data. In addition, the performance of computational models is taken into consideration.


Flexible parts handling Harness assembly Dual arm Cable shape prediction 


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© The Author(s) 2015

Open Access This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (, which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

Authors and Affiliations

  • A. Papacharalampopoulos
    • 1
  • S. Makris
    • 1
  • A. Bitzios
    • 1
  • G. Chryssolouris
    • 1
    Email author
  1. 1.Laboratory for Manufacturing Systems and Automation, Department of Mechanical Engineering and AeronauticsUniversity of PatrasPatrasGreece

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