The automatic assembly of hoses using industrial robots

The assembly of nonrigid or limb parts is very difficult to automate. As an example the assembly of an hose to a pipe was investigated. To simulate the joining process, finite element methode was employed to calculate assembly parameters like forces, study subproblems like gripper design and control, select joining strategies and determine reasons of failure. For the experimental investigation a pilot assembly cell was developed. As a result several joining strategies are evaluated and effects of material and process time are lined out.