Single point incremental forming using kuka kr6-2 industrial robot - a dynamic approach
Journal Title: Proceedings in Manufacturing Systems - Year 2018, Vol 13, Issue 3
Abstract
The single point incremental forming process (SPIF) of the metal sheets is a modern method of plastic deformation, with an enormous potential regarding the flexibility and personalization of the parts obtained by this process. SPIF of a sheet metal is a technologic manufacturing process where a sheet metal is formed into a desired part by a series of small incremental deformations. The main research objective is to determine the joint torques from the kinematic structure of the KUKA KR6-2 industrial robot during SPIF process. The dynamic model of the robot during SPIF processes is also presented. This study is necessary to determine if KUKA KR6-2 robot can be used for SPIF manufacturing processes of thin metal sheets without mechanical failure over time. To study and simulate the KUKAKR6-2 robot's dynamic behavior during the SPIF process, first the forces that appear during the process must be examined.
Authors and Affiliations
Mihai CRENGANIȘ, Alexandru BÂRSAN, Sever-Gabriel Racz, Monica Daniela IORDACHE
Keywords
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