# Grasp Analysis for the Robot-Based Manipulation of Pre-Assembled Cables with Electrical Connectors
## 6 Conclusions and Outlook  
We presented a methodology for grasp analysis for the robot-based manipulation of pre-assembled cables with ECs. The novel contribution is the combination of a contact model for robotic grasping with a physics simulation for DLOs. The latter is used to simulate the mechanical impact of dynamic cable deformations on the grasping process, which is particularly important for cables with high stiffness parameters. For this purpose, a procedure to automatically generate a scenario in a physics simulation based on CAD data and cable specifications is presented. Subsequently, the contact model estimates the required grasp force for the dynamic cable deformation. Based on the simulation results, a user can choose a suitable gripper base, select a surface pair to grasp the EC, and re-plan the assembly task. The methodology opens up the potential to reduce time-consuming prototyping and experimentation, especially for re-scheduling in the event of changes to the product and the assembly task. In future work, the methodology could be used to analyze the one-sided grasping of ECs with free cable movement. In contrast to this work, a significant influence is to be expected from the cable mass due to its leverage on the surface pairs. In addition, the mechanical impact of the cable deformation due to the one-sided manipulation offers potential for investigation. The routing of cables by connecting them to clamps is also conceivable and generally possible using _IPS Cable Simulation_. It is also feasible to extend this work to include collisions between the cable and rigid obstacles involved in an assembly task. For the trajectory generation, a combination with the path planning approach for DLOs presented by [26] (see Section 2.3) could be suitable. Furthermore, this work is expected to be easily transferable to other DLO assembly applications, such as hydraulic hoses. This is due to the high universality of the contact model used and the physics simulation being applicable to many types of DLOs.  
There is further research potential related to automating the adaptation of trajectories, which is currently executed manually. Thereby, the extent to which these grasp force-minimal considerations can be combined with classical robotic path planning could be investigated. In addition, a finite element analysis could be performed at reasonable cost to determine the pressure distribution at the WP with the highest required grasp force. Furthermore, this method of analysis could be used to determine the permissible grasp force without damaging the EC, e.g., based on the surface pressure applied [4]. This upper limit of the grasp force should be checked before a surface pair is finally selected.  
In addition, it is conceivable to integrate further boundary conditions of the assembly task that affect the gripper system, e.g., different solutions for the cable supply.  
Conceptualization, D.G.; methodology, D.G. and J.D.; software, D.G. and L.M.; validation, D.G. and L.M.; formal analysis, D.G.; investigation, D.G.; resources, R.D.; data curation, G.D.; writing--original draft preparation, D.G.; writing--review and editing, J.D. and R.D.; visualization, D.G.; supervision, R.D.; project administration, J.D.; funding acquisition, R.D. All authors have read and agreed to the published version of the manuscript.  
This research was funded by the Bavarian Ministry of Economic Affairs, Regional Development, and Energy (StMWi), as part of the project \"RoMaFo--Roboterassistenzsystem und maschinelles Sehen zur Montage von formlabilen Bauteilen bei kunden individuellen Produkten\" (DIK-1908-0002// DIK0109/01).