Force prediction for correction of robot tool path in single point incremental formingReport as inadecuate




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1 LGCGM - Laboratoire de Génie Civil et Génie Mécanique

Abstract : In this work, an off-line compensation procedure, based on an elastic modelling of the machine structure coupled with a Finite Element Analysis FEA of the process is applied to Robotized Single Point Incremental Forming RSPIF. Assuming an ideal stiff robot, the FEA evaluates the Tool Center Point TCP forces during the forming stage. These forces are then defined as an input data of the elastic robot model to predict and correct the tool path deviations. In order to make efficient the tool path correction, the weight of three numerical and material parameters of the FEA on the predicted forces is investigated. Finally, the efficiency of the proposed method is validated by the comparison between numerical and experimental geometries obtained with or without correction of the tool path.

Keywords : Incremental Sheet Forming ISF Finite Element Analysis FEA force prediction industrial robots experimental validation





Author: Jérémy Belchior - Dominique Guines - Lionel Leotoing - Eric Ragneau -

Source: https://hal.archives-ouvertes.fr/



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