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Virtual Reality & Intelligent Hardware 2019 Vol 1 Issue 6:543—557
A review of cable layout design and assembly simulationin virtual environments
Xiaodong YANG, Jianhua LIU*, Naijing LV, Huanxiong XIA
School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China
* Corresponding author, jeffliu@bit.edu.cnReceived: 28 June 2019 Accepted: 4 November 2019
Supported by the National Defense Fundamental Research Foundation of China (JCKY2017204B502, JCKY2016204A502)and National Natural Science Foundation of China (51935003).Citation: Xiaodong YANG, Jianhua LIU, Naijing LV, Huanxiong XIA. A review of cable layout design and assembly
simulation in virtual environments. Virtual Reality & Intelligent Hardware, 2019, 1(6): 543—557
DOI: 10.1016/j.vrih.2019.11.001
Abstract The layout and assembly of flexible cables play important roles in the design and development
of complex electromechanical products. The rationality of cable layout design and the reliability of cable
assembly greatly affect product quality. In this paper, we review the methods of cable layout design, cable
assembly process planning, and cable assembly simulation. We first review research on flexible cable
layout design (both interactive and automatic). Then, research on the cable assembly process planning,
including cable assembly path and manipulation planning, is reviewed. Finally, cable assembly simulation
is introduced, which includes general cable information, cable collision detection data, and cable assembly
process modeling. Current problems and future research directions are summarized at the end of the paper.
Keywords Flexible cable; Layout design; Assembly process planning; Assembly process simulation
1 Introduction
The plural "cables" is the collective term for wires, cables, and harnesses used to connect electrical
components, equipment, and control devices in complex electromechanical products[1]. As such products
become optically, mechanically, and electrically integrated, various types of cables transmitting both
energy and signals are increasingly being used in aerospace, automotive, marine, and missile applications,
among others. Cable layout design and assembly tasks are important components of electromechanical
systems; these tasks are both complicated and time-consuming. Rational cable layout design and reliable
assembly are important factors in product quality. Given the large number of cables used in complex
electromechanical products, layout design must not only consider functional cable connections, but should
also save space to facilitate assembly and maintenance and meet engineering requirements such as
electromagnetic compatibility. As cables are flexible, entanglement and excessive deformation often occur
during operation. Therefore, cable assembly is more difficult and complicated than the assembly of rigid
components and requires more manpower and time. Traditionally, cable layout design and assembly relied
on physical prototypes of the structural parts; however, problems in design are discovered only after such
prototypes are fabricated. Furthermore, inappropriate routing may lead to unwanted structural
modifications. If the design proceeds via trial-and-error, the required time may be long and the cost high[2,3];
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it is also difficult to guarantee quality and reliability.
In recent years, developments in computer simulation, virtual reality (VR), and augmented reality (AR)
have greatly aided cable layout design and assembly. The use of computers for layout design, and assembly
planning and simulation, solves many of the problems associated with traditional design methods, as
designers can quickly create and simulate cables to find and resolve problems that may occur during
assembly and use. This greatly shortens the product development cycle, reduces costs, and improves
product assembly quality and reliability[4,5].
This paper focuses on cable layout design, and the cable assembly process and simulation in virtual
environments. The paper is organized as follows. In Section 2, we discuss research progress in cable layout
design. The literature on cable assembly process planning is introduced in Section 3. Section 4 presents the
literature on assembly simulation. Current problems and future research directions are summarized in
Section 5. The organization of the paper is shown in Figure 1. Cable layout design precedes cable assembly
process planning, which in turn serves as the basis for subsequent simulation that provides feedback on
cable layout design, to guide, verify, and optimize cable assembly.
2 Flexible cable layout design
Computer-aided design (CAD) can be used to generate a 3D digital prototype of the cable layout; the
layout can also be viewed in a VR environment. The process can be considered a human-computer
interactive process or an automatic process, depending on how the layout results are generated. The former
emphasizes human experience and design ability; the latter derives the cable layout path automatically
using intelligent algorithms.
2.1 Interactive cable layout design
"Human-computer interactive cable layout design" refers to the complete simulation of cable layout and
assembly using interactive devices in a virtual environment. Several commercial CAD software packages
include cable wiring design modules [e.g., Pro/DIAGRAM, Pro/CABLING, and Pro/ROUTING in Pro/E
(PTC); UG/Wiring and UG/Harness in UG (Siemens); and ECR (Electrical Cableway Routing) in CATIA
(Dassault Systems)]. These software packages resolve the problems associated with cable layout design to
some extent, but a good deal of human-computer interaction is required, and the physical properties of
cables and layout path optimization are not considered.
ESI developed a VR/visual design platform, IC. IDO, to aid manufacturing and decision-making. The
Route module deals with high-complexity systems and can handle dense wiring data, allowing
professional-level wiring systems to be devised. The module focuses specifically on cable lengths after
wiring. The Flexible module can be used to create and modify wiring systems and connectors, with
optimized cable flexibility and reduced deformation and expansion. The industrial path simulation (IPS)
software developed by the Fraunhofer Institute (Berlin, Germany) is specifically designed to resolve
Figure 1 Organization of the paper.
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Xiaodong YANG et al: A Review of Cable Layout Design and Assembly Simulation in Virtual Environmentsindustrial path planning problems. The Cable Simulation module[6,7] allows the layout of flexible structures,
such as hoses and cable harnesses, to be optimized; virtual assembly can also be performed. Motion can be
applied to flexible pipelines, with real-time calculation of the deformations of various materials of different
lengths. The module also calculates the forces acting on, and bending moments of, flexible pipelines and
optimizes their lengths; clips can be positioned as required.
Many researchers have developed virtual wiring systems. Park et al.[8] of Stanford University (Stanford,
CA, USA) used a multi-agent-based approach to apply parallel engineering to cable design. Their multi-
agent prototype system is called First-Link, and their distributed agent framework was tested in the context
of aircraft cabling design. Ng and Ritchie et al.[9-15] of Heriot-Watt University (Edinburgh, UK) developed a
human-computer interactive cable wiring system, known as CHIVE (Cable Harnessing in Virtual
Environments), with an immersive VR environment (Figure 2a). A helmet display and interactive
equipment, such as a 3D mouse, are used for cable layout design in a virtual environment; the results can
be checked using interference detection to further improve cable laying efficiency. Liu et al. [16,17] of the
Beijing Institute of Technology (Beijing, China) developed the virtual assembly process planning (VAPP)
system (Figure 2b). Based on an analysis of cable flexibility, discrete cable control points are modeled in a
virtual environment, facilitating interactive cable layout design. Valentini et al. [18] of the University of
Rome (Rome, Italy) and Liu et al. [19] of Huazhong University of Science and Technology (Wuhan, China)
used AR to assist with cable layout design and demonstrated real-time cable manipulation (Figure 2c and
2d). Wei et al. of the Chinese Academy of Engineering Physics (Mianyang, China)[20,21] developed a virtual
wiring prototyping method. Prototype visualization based on human-computer interaction is used to lay out
the cable and plan assembly. The system includes a virtual prototype, a cable connection list, a cable
interface, cable material data, and cable layout data, among other information.
Software can be used to resolve some of the problems associated with cable layout design; however,
during actual application, interactive wiring requires considerable human input and interference from other
objects remains problematic. Most software packages do not consider the physical properties of cables or
layout optimization.
Figure 2 (a) A human-computer interactive wiring system featuring an immersive virtual reality environment
(Ritchie et al.); (b) A virtual assembly process planning system (Liu et al.); (c) and (d) Wired cables in an augmented
reality environment (Valentini et al.).
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2.2 Automatic cable layout design
A great deal of cable layout design work is required when fabricating complex electromechanical products.
Human-computer interactive design remains relatively inefficient, slowing the product development cycle;
thus, automatic cable layout design has become increasingly popular for automatically deriving a cable
layout path that meets the electrical connection requirements, wiring rules, and performance criteria. The
path should connect the ends of cables and meet certain constraints. Research on automatic cable layout
design can be divided into two types. The first type is concerned with automation of the entire process;
attempts have been made to shorten the design process by establishing an empirical knowledge base, and
by analyzing and improving wiring rules. The second type of research in this field is concerned with
automatic path generation via the application of various algorithms.
The first type of research employs parallel processing, optimization algorithms, knowledge engineering,
and other technologies. Conru et al.[22,23] integrated the system proposed by Park et al.[8] into a complete set
of algorithms for 3D automation of cable layout, using parallel engineering and automated wiring. The
wiring scheme is generated automatically, and a genetic algorithm is used to optimize the wiring efficiency.
However, most research focuses on wiring automation; in-depth studies on cable path modeling are
lacking. Sung et al. [24] of Heriot-Watt University exploited current knowledge of, and practical experience
with, engineering design processes to develop an automatic design and modeling method in an immersive
virtual environment. A design task was completed online, and the method was validated by designing a
cable. Zhu et al. [25,26] of Delft University of Technology (Delft, Netherlands) applied knowledge-based
engineering (KBE) to the automatic layout of aircraft cables. Discrete optimization techniques were
employed when considering cable length and wiring area constraints. Optimal cable paths were sought, and
the method was verified in a case study on aircraft wiring.
The second type of research uses various path search algorithms to automatically generate cable routes.
Zhu et al. [27] suggested that pipeline laying should be regarded as a path planning problem involving
multiple constraints; they used cell decomposition to obtain 2D and 3D pipeline layouts. Schafer et al.[28] of
the University of Bonn (Bonn, Germany) developed an integrated cable layout method in 3D space. Their
aim was to increase packing density while also satisfying space constraints, where the method that they
designed deals principally with orthogonal layouts. Liu and Zhou of Guilin University of Electronic
Technology (Guangxi, China) [29] investigated 3D cable wiring in an electronic machine. Using the A*
algorithm and dynamic programming, an electronic, whole-machine routing path search method was
developed. First, the wiring space was pre-processed based on certain rules. The principal wiring path was
then planned. Next, the optimal route between the interface and the main road was derived; the feasibility
of the cable route search area was determined by reference to a collision detection factor. The routing
algorithm first pre-processed the layout when searching for a path, and then obtained paths using different
search strategies. Sampling-based robotic motion planning algorithms are being gradually applied to path-
searching problems. Kabul et al.[30] of the University of North Carolina (Chapel Hill, NC, USA) proposed a
path-planning algorithm for cable layout in a complex environment. First, a path map of the environment
was generated using a variant of the PRM algorithm, and constraint-based sampling was then performed in
the contact space. The path was modified using adaptive forward dynamics; both geometric and physical
property constraints were considered. Their algorithm is the first to simultaneously consider path planning
and the physical properties of cables, and shows good computational efficiency (Figure 3). Liu et al.[31,32] of
the Beijing Institute of Technology used an improved motion planning algorithm to study the automatic
layout design of single- and multi-branch cables. They rapidly obtained a cable wiring path satisfying
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certain constraints after improving the rapidly
exploring random trees (RRT) and probabilistic
roadmap algorithm (PRM) algorithms. Liu et al. [33]
of the Beijing Institute of Technology developed
an automatic cable layout method based on the
"Anytime" RRT algorithm. A magnetic attraction
algorithm detecting obstacles was developed to
deal with cable adherence constraints, improving
the efficiency and quality of automatic cable layout
(Figure 4).
Several path-search algorithms have been used
to facilitate (automatic) cable layout design, and
many interesting results have been reported. However, automatic cable layout path algorithms have not
been extensively researched and are seldom used in real-world engineering environments because of the
many calculations that are required.
3 Cable assembly process planning
Cable layout systems focus on the final result, i. e., the assembly of cables into an electromechanical
product. Information on the final state is obtained after the cables are laid. The assembly process involves
the use of path, sequence, strapping, and fixing schemes prior to actual assembly, based on the cable layout
design results. Cable assembly path and manipulation planning are key to successful cable assembly
process planning.
3.1 Cable assembly path planning
Cable assembly path planning deals with the manipulation constraints imposed on the initial and final
configurations. First, a stable wire configuration satisfying the manipulation constraints is derived; second,
a path between these configurations that ensures stability is derived[34]. Assembly path planning for 1D
flexible parts must include both motion and operation planning, but few such studies have been conducted.
Given the continuous developments in robotic flexible motion planning technology, many studies have
been conducted on motion and operation planning for 1D flexible parts; these studies serve as references
for cable assembly path planning.
Most methods focus on planning the flexible parts. In an early study, Lamiraux and Kavraki[35] of Rice
University (Houston, TX, USA) developed a motion planning method for deformable parts; they used
random methods. Over the full range of movement, it was considered that both ends of the flexible part
Figure 3 Automatic wiring method of Kabul et al..
Figure 4 Automatic cable layout system of Liu et al..
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were constrained by the operation, and collisions were avoided principally by deformation of the flexible
part. This differed from earlier motion planning approaches used to model rigid parts and hinged robots,
and can be applied to flexible panels, tubes, and cables, as well as in the medical field. Bayazit et al. [36] of
Texas A&M University (College Station, TX, USA) developed a motion planning method for deformable
robots based on a random path graph algorithm. First, a rough path was generated, wherein collisions were
eliminated via robot deformation. Eventually, a feasible path was generated, with consideration of the
physical properties of the deformable parts. Rodriguez et al. [37] established a framework for path planning
in a fully elastic deformation environment; both the planning object and the environment were deformable.
Their motion planning algorithm was based on the RRT algorithm. Mikchevitch et al. [38,39] of the Grenoble
Institute of Technology (Grenoble, France) simulated the disassembly of flexible parts using VR and real-
world or mechanical models. A two-layer system was used to control the model, allowing users to precisely
perform virtual assembly.
Other researchers have used path planning algorithms (such as sampling-based algorithms) based on
deformation of the flexible part. Moll, of the University of South Carolina (Columbo, SC, USA), and
Kavraki of Rice University[34] developed path planning methods for deformable linear objects based on
sampling path graphs. Stable configurations were obtained by drawing minimum energy curves. An
intermediate configuration was used to analyze different configurations. Their method can be used for
cable layout, to study surgical sutures, and to develop snake-shaped robots. Gayle et al.[40,41] of the University
of North Carolina developed a path planning algorithm for flexible robots. Their algorithm fully
considered both geometric and physical constraints; a novel collision detection algorithm was also derived.
The path is calculated using a centerline-based method that allows the robot to obtain the final
configuration. Kabul et al.[30] also employed this method, using a variant of the PRM algorithm to generate
the initial path; the final non-interference path was obtained using adaptive forward dynamics. However,
these motion planning methods are used primarily in the layout design phase rather than the assembly
phase. Mahoney et al.[42] of Utah University (Salt Lake City, UT, USA) used principal component analysis
to reduce the dimensions of the deformable motion planning problem; their approach considered both
computational efficiency and physical properties. A sampling-based motion planning method using a
deformable robot was proposed and tested on various deformable parts. A slender deformable rod was
employed, which was very similar to short flexible cables. As shown in Figure 5, the end constraint of the
object and the energy constraints of deformation must be considered during planning. Liu et al. [43] of the
Beijing Institute of Technology proposed a short-
cable assembly path planning method based on
low-dimensional equilibrium sampling. A "guide
path" was used to reduce the dimensions of path
planning. In the low-dimensional space along the
guide path, random sampling was combined with
data at both ends of the cable, and a path map was
then constructed; finally, a feasible assembly path
was found by searching the map.
3.2 Cable manipulation planning
Cable manipulation planning is needed because
manipulation will often affect cable shape;
geometric or topologic changes can be modeledFigure 5 Sampling-based motion planning for a deformable
part (Mahoney et al.).
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Xiaodong YANG et al: A Review of Cable Layout Design and Assembly Simulation in Virtual Environmentsduring planning[44]. During cable assembly, the end or middle of the cable is carried by an operator or
clamped by a robot; to date, research has focused on model-based manipulation planning. In particular,
cable knotting/unknotting has attracted attention. The hand-eye system proposed by Inaba and Inoue of the
University of Tokyo (Tokyo, Japan) [45] was earlier used for rope piercing and knotting. Using feedback
provided by the visual system, the robot successfully manipulated flexible ropes. Brown et al. [46] of
Stanford University used a real-time, multi-body, fixed-length geometric model of rope-like objects such
as surgical sutures, and successfully performed a virtual operation. Saha and Isto[47] used a random path
graph method to solve the manipulation planning problem for a deformable linear object; in their method,
which does not use a specific physical model,
flexible ropes are manipulated by a dual-arm
robot (Figure 6). Other knotting studies[48-51] have
explored motion planning, virtual surgery, and
winding. Cable shape prediction during robotic
manipulation may pose a problem. For example,
Papacharalampopoulos[52,53] used a higher-order
analytical model that considered mechanical
behavior to estimate cable shape during robotic
manipulation. Collisions between cables and rigid
parts were detected according to a quasi-static
approach.
In the context of automatic assembly of deformable parts, Zheng et al. [54] of Ohio State University
(Columbus, OH, USA) performed a study on the insertion of deformable beams into rigid holes, but the
applications were relatively limited. Asano et al.[55] of Osaka University (Osaka, Japan) performed a study
on automatic assembly manipulation planning of strip circuit boards. The minimum potential energy
principle was applied to evaluate board deformation, from the initial to the target shape. Hermansson et al.[56]
of the Fraunhofer-Chalmers Center (Gothenburg, Sweden) developed a method for automatic path
planning of cable (wire) harness installations in cars. The contact problem was addressed by adding a
handle, and the reverse disassembly path served as the assembly path. An industrial case study revealed
that the calculation speed was high. Roussel et al. [57,58] of the University of Illinois (Chicago, IL, USA)
performed inextensible/extensible elastic rod operation planning; the operator grasped one or both ends of
the rod, and the planning path was found based on a sampling method (Figure 7). Mukadam et al.[59] performed
manipulation planning of multiple grippers (for elastic rods) in a 2D plane, and determined the highest and
lowest numbers of grippers required to maintain the equilibrium states.
Figure 7 Sampling-based elastic rod path planning (Roussel et al.).
Figure 6 Rope operation planning using the random
path graph method of Saha et al..
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In summary, motion or manipulation planning involving cable-like flexible parts uses flexible body
models, and various algorithms and collision detection methods, to generate paths differing in deformation
state.
4 Cable assembly process simulation
"Cable assembly process simulation" is used principally for formulating, verifying, and optimizing cable
assembly. Animations can be used in workshops for operator training and collaborative design. Models of
cable assembly including general cable information and cable collision detection information are
required[60].
4.1 Cable information models
The "cable information model" produces data on cable topology, geometry, and physical characteristics for
virtual assembly simulation. Physical and collision detection models depend on the cable information
model. Shang et al. [61] divided a cable into a series of basic elements, and established relationships among
them using subordinate and graph theory. Wei et al. [20] devised electrical, topologic, and geometric cable
models, and derived various types of cable information. Wang[62] recorded cable information taking the
wire as the basic unit; the data for all wires were then combined to provide an overview of the cable. Liu et
al. [63] considered the physical, geometric, topologic, logical connection, and material aspects of cables in
detail to establish an integrated model. Yang et al.[64] considered cables in terms of operational constraints,
branch points, sub-cable segments, physical model units and harness. Five basic operational constraints
imposed by cables during assembly were considered, and cable information models were generated using
algorithms such as the breadth-first search.
In general, cable information models consider basic elements, i. e., cable attributes, which differ
depending on particular requirements and applications; connections are then established between the
elements. However, current cable information models do not incorporate operational constraints during
assembly, and do not convert 3D cable models built using commercial software into information models
that can be used for simulation.
4.2 Cable collision detection
Cable collision detection refers to cable interference with other objects (or itself) during assembly. This is a
major problem that virtual assembly must address. Accurate collision detection improves the authenticity
of a virtual environment and enhances immersion therein[65,66]. During laying, cables often collide with rigid
structures, other cables, and pipes. Flexible cables self-collide when handled or manipulated by tools.
These collisions wear (and eventually detach) the outer layer, compromising reliability[67]. Elimination of
such interference is essential during cable assembly simulation. Cable paths must be checked for
interference. For this purpose, a collision detection model is essential. Many useful algorithms have been
developed[68,69]; these include bounding volume hierarchy (BVH), space decomposition, distance field,
image space, and intelligent algorithms[70]. The BVH algorithm is one of the most commonly used; the
bounding volume may be an axis-aligned bounding box (AABB), an oriented bounding box (OBB), a
sphere, a discrete orientation polytope (K-DOP), or a convex hull, among other forms. However, most
algorithms deal with rigid parts and collisions with flexible objects such as cables are poorly detected.
Inspired by the axisymmetric characteristics of cables, Loock et al.[71] solved the collision problem between
cables and environmental objects to determine the distances between mass points and objects, and thus the
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Xiaodong YANG et al: A Review of Cable Layout Design and Assembly Simulation in Virtual Environmentscollision status. This method detects other cables and non-cable structures, but is limited in terms of self-
collision detection. Wang et al.[72] sampled objects to be detected, established feature pairs in 2D space, and
solved the collision detection problem to optimize the number of feature pairs using a particle swarm
algorithm. The algorithm is very flexible, but may not detect all collision pairs. Roy et al. [73] studied
collisions involving the reins used to connect underwater robots. First, a global optimization method was
used to determine the (approximate) minimal separation distance between any two reins. Local
optimization was then employed to derive accurate separation distances. If a collision is detected, the
algorithm calculates the contact force according to the region of interference. Shellshear[74] studied the self-
collision detection of deformable linear cables using a 1D "sweep-pruning" algorithm. Compared to other
self-collision detection algorithms, pruning was faster and could detect collisions between two different
types of object (cables and structural parts). Using a cable mass-spring-damping model, Xie et al. [75]
developed an accurate layered algorithm for detecting cable collisions, and evaluated the response in terms
of the physical characteristics of cables. Huang et al. [76] reported that cable detection was highly memory-
intensive, and developed a large-step optimization algorithm to reduce memory consumption. To avoid
stick and jitter, various mathematical methods were used to optimize performance, although this proved
difficult.
During a collision, the basic geometric elements of a flexible cable will change; thus, rigid body
collision detection algorithms cannot be applied to flexible cables. However, refreshing geometric data is
time-consuming, so real-time simulation is difficult. More efficient algorithms for detecting flexible cable
collisions are required[77].
4.3 Cable assembly process modeling
Virtual assembly process simulation can be used to further develop and optimize cable assembly, where
actual assembly is simulated and "assemblability" is evaluated. Given the large number of flexible cables
that must be assembled when fabricating complex electromechanical products, cables not only change in
terms of position, but also in shape. A cable assembly process model is required to describe the assembly
process and drive "virtual solid modeling," which is important for demonstration purposes.
Liu et al. [67] recorded the spatial positions of discrete cable points over time using the "path key point"
approach, and encoded path movements as paths to describe cable movement in real time. Shang et al. [78]
used an improved hierarchical task chain model to unify the description of a rigid-flexible hybrid assembly
process. Wei et al. [21] divided assembly units into "rigid parts" and "flexible cables, " recorded assembly
actions sequentially, and simultaneously moved cables and operated electrical parts such as joints. Zhang[79]
decomposed cable assembly into three parts: plugging in the electrical cable connector, fixed operation of
the cable bundle, and deformation. Assembly was considered as the reverse of disassembly, according to
the "detachable and installable" concept. Wang[58] recorded the positions of cable parts at key moments in
an assembly animation and thus achieved visual continuity. Considering the flexibility of deformable linear
objects, Lv et al.[80,81] established a real-time physical model of a cable using the extension mass-spring and
Cosserat elastic rod models. Both models consider cable stretching, bending, and twisting, ensuring
authentic cable assembly process simulations (Figure 8).
In summary, the principal difficulty during modeling of the cable assembly process is cable flexibility.
Cables change in terms of both orientation and shape during operation, and rigid parts, such as connectors
and clamps, are often assembled together with flexible cables. Efficient recording of process information is
key for cable assembly simulations.
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5 Conclusions and future work
In summary, many researchers are conducting studies on new technologies, methods, and tools for flexible
cable layout design, and cable assembly process planning and simulation. However, these studies are still
exploratory in nature, and few real-world applications have emerged. The current problems and future
research directions can be summarized as follows:
(1) Technology for automatically deriving cable layouts
Using computers to generate cable routing and assembly paths greatly improves design efficiency.
However, the research in this area remains immature, and the efficiency of path search algorithms must be
improved. Engineering constraints and the physical properties of cables must be considered when
optimizing the paths. Cable layout and assembly processes require further improvement.
(2) Rigid-flexible hybrid assembly planning technology
Complex electromechanical products are assembled from rigid parts and flexible cables. Given their
widespread use, it is very important to plan the assembly sequence and path of cables. In addition, potential
collisions during assembly must be considered. Collisions can occur between rigid parts, rigid parts and
flexible cables, and two or more cables. Cables deform when they make contact with surrounding objects,
so cable flexibility must be considered during assembly.
(3) Evaluation of cable-laying quality evaluation
Cable layout design and assembly process planning affect the final laying results and cable life during
operation. Inappropriate layout design and non-standard assembly can reduce the cable-laying quality,
resulting in suboptimal electrical performance. However, evaluations of the quality of the cable layout and
assembly still depend on the experience of technicians and/or the experimental method used. A standard
scientific quality-evaluation system is required.
(4) VR, AR, and force feedback
According to the continuous developments in VR, AR, force feedback, and the associated hardware,
these methods are now used for cable layout design and assembly planning. The immersion afforded by
virtual environments enhances realism and allows knowledge and experience to be fully exploited, which
in turn improves the efficiency and quality of cable layout and assembly. Future developments in virtual
environments, and the associated hardware and software, will further enhance cable layout design and
assembly planning.
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