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
Related Articles
- EP ID EP415375
- DOI -
- Views 121
- Downloads 0
Mechanical strength test of train wheel based on virtual prototyping
Virtual prototyping becomes more and more a less-expensive alternative of physical mockups. Its applicability to product certification procedures is already included in several standards where it is possible to replace c...
Research on the optimization of the manufacturing technology of the metal parts heat treated in liquid and solid phase
This paper analyzes the quality of pinion type parts manufactured through the technological procedure of hardening in liquid and solid state phase. The investigations are made by electronic microscopy and optical microsc...
SOLUTIONS FOR HYDRAULIC BALANCING OF THE POSITIONING AND FEED KINEMATIC CHAINS IN PORTAL MILLING MACHINES
The authors of this paper introduce hydraulic balancing systems for vertically moving heavy loads. The proposed system is suitable for heavy duty machine tools with crossrail that can be positioned depending on the size...
A novel tool clamping system for CNC press brakes
Tools of CNC press brakes are attached to the ram of the press by conventional clamping systems ensuring firm support but not easy exchange, because they rely on tightening and loosening of a large number of screws. Some...
OPTIMIZATION OF THE ROBOT SPACE TRAJECTORY BY USING KINEMATICS, DYNAMICS, INTELLIGENT DAMPER AND PROPER NEURAL NETWORK
In the robotics field one of the more important is the optimization of the space trajectory of the tool center point (TCP) without the undesired frequencies of the vibrations. The paper shows one new optimizing method by...