A Model Based Approach to Increase the Part Accuracy in Robot Based Incremental Sheet Metal Forming
A Model Based Approach to Increase the Part Accuracy in Robot Based Incremental Sheet Metal Forming
复制标题
一种基于模型的方法，用于提高基于机器人的增量钣金成形中的零件精度
DOI：
10.1063/1.3552383
复制
发表时间：
2011
影响因子：
4.1
通讯作者：
Junhong Zhu
中科院分区：
文献类型：
--
作者：
H. Meier;R. Laurischkat;Junhong Zhu
在基于机器人的板料渐进成形中，影响成形精度的一个主要因素是机器人结构的柔顺性。与传统机床相比，机器人运动学的低刚度导致规划刀具路径的显著偏差，因此形状质量不足。为了离线预测和补偿这些偏差，已经开发了一种基于模型的方法，包括有限元方法，以模拟板成形，和一个多体系统，建模的顺应性机器人结构。本文介绍了多体系统模型及其补偿方法的实现和实验验证。
One main influence on the dimensional accuracy in robot based incremental sheet metal forming results from the compliance of the involved robot structures. Compared to conventional machine tools the low stiffness of the robot’s kinematic results in a significant deviation of the planned tool path and therefore in a shape of insufficient quality. To predict and compensate these deviations offline, a model based approach, consisting of a finite element approach, to simulate the sheet forming, and a multi body system, modeling the compliant robot structure, has been developed. This paper describes the implementation and experimental verification of the multi body system model and its included compensation method.