Simulating robotic manipulation of cabling and interaction with surroundings

  • A. Papacharalampopoulos
  • P. Aivaliotis
  • S. MakrisEmail author
Open Access


The manipulation of non-rigid parts, particularly cabling structures, such as the cable harness, raises various issues that require dealing with complex modeling. The first important issue is the prediction of the shape of flexible parts itself. Also, addressing collision detection problems is of high importance. However, both are computationally intensive problems, as well as coupled. More specifically, regarding modeling, the structure of a harness can affect the mechanics (regardless of whether it is modeled like a cable). In this paper, such phenomena have been taken into account. What is more, collision detection between cables and rigid bodies is performed, regarding a quasi-static approach. Furthermore, cable-cable interaction cases are also addressed with the herein presented algorithm. A methodology, based on the geometrical characteristics of a cable, is given, and illustration from implementation in a commercial software is discussed. The simulation of an industrial case of assembling cabling harness in automotive sector is used to prove the usability of the algorithm and the modeling.


Flexible parts handling Harness assembly Dual arm Cable shape prediction Collision avoidance Bodies contact Assembly parts interaction Simulation 


Funding information

The work reported in this paper was partially supported the project X-act/FoF-ICT-314355, funded by the European Commission in the 7th Framework Programme.


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Copyright information

© The Author(s) 2018

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
  • P. Aivaliotis
    • 1
  • S. Makris
    • 1
    Email author
  1. 1.Laboratory for Manufacturing Systems and Automation, Department of Mechanical Engineering and AeronauticsUniversity of PatrasPatrasGreece

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