In this research, we studied the mating tolerance of various plug-in cable connectors and provide a mating tolerance dataset of 70 different connectors. This dataset will be highly advantageous to industries for wire harness assembly tasks using robots. Understanding the mating tolerance is crucial for automating the mating process because it is closely related to the control specifications of a robotic manipulator. Our system uses a 2-finger Robotiq adaptive gripper attached to a 6 degree-of-freedom industrial robot (ABB Robotics) to test the mating process of wire harness assembly tasks. In addition, we use 70 types of wire harness connectors with different numbers of pins widths, lengths, and thicknesses, and various shapes, to test the mating tolerance. The results indicate that the connector mating tolerance of our dataset is more generous than the repeatability of conventional industrial manipulators, and further demonstrate the suitability of the position control methods to wire harness assembly tasks.

中文翻译：

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公差数据集：用于线束组装任务的插入式电缆连接器的配合过程

在这项研究中，我们研究了各种插入式电缆连接器的配合公差，并提供了70个不同连接器的配合公差数据集。该数据集对于使用机器人进行线束组装任务的行业将非常有利。了解配合公差对于自动化配合过程至关重要，因为它与机器人操纵器的控制规格密切相关。我们的系统使用2指Robotiq自适应抓手和6自由度工业机器人（ABB Robotics）来测试线束组装任务的配合过程。此外，我们使用70种类型的线束连接器，它们具有不同数量的针脚宽度，长度和厚度以及各种形状，以测试配合公差。