DEFORMATION PATH PLANNING FOR BELT OBJET MANIPULATION

A differential geometry based modeling to represent deformation path for a belt object is proposed. Adequate deformation path of a belt object such as film circuit board or flexible circuit board must be generated for automatic manipulation and assembly. First, deformation of a belt object is described using the direction of the central axis and torsion around it. Second, a method to derive an adequate transition of the object shape from the initial state to the final state is proposed. The adequate deformation transition can be derived by minimizing the maximum potential energy during its manipulation process. Flexible circuit board can be easily bent along the central axis, but it must not be twisted around the central axis because it may cause the crack at the transverse edges leading to wiring disconnection. So, more suitable deformation path is considered so that the stress in a belt object is small.

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