In this study, we propose the use of a distribute manipulator for repositioning and alignment process of cable connectors to obtain the accurate pose of the connector. The accurate pose is critical for a successful mating process in wiring harness assembly tasks. Conventional actuators such as robotics grippers rely on active manipulations; for example, they uses belts and, rollers for the repositioning of the cables, and others such as parallel grippers used directly to grasping the connector. However, all these systems need a lot of many pieces and mechanisms to manipulate the cables or high accuracy control process for grasping the connector in a certain position, thus increasing the difficulty when the cables and connectors are smaller. Therefore, we present a vibrating plate to perform in-hand manipulation to reposition the cable and align the connector. We modeled and analyzed the relationship between the vibration frequency and the velocity of the cable. Furthermore, we experimentally show that the moving velocity of the cable is proportional to the vibration system frequency, and the proposed vibrating plate can reliably move the connector to the desired pose.

在这项研究中，我们建议使用分配操纵器进行电缆连接器的重新定位和对齐过程，以获得连接器的准确姿势。正确的姿势对于线束组装任务中的成功配合过程至关重要。传统的执行器（例如机器人抓爪）依赖于主动操作。例如，他们使用皮带和滚轮来重新放置电缆，并使用其他工具，例如直接用于抓紧连接器的平行抓手。然而，所有这些系统都需要许多部件和机构来操纵电缆，或者需要高精度控制过程来将连接器夹持在特定位置，因此，当电缆和连接器较小时，增加了难度。所以，我们提供了一个振动板来执行手动操作，以重新放置电缆并对准连接器。我们对振动频率和电缆速度之间的关系进行了建模和分析。此外，我们通过实验表明电缆的移动速度与振动系统的频率成正比，并且所提出的振动板可以可靠地将连接器移动到所需的姿势。