Abstract
This paper discusses the development of a complex three dimensional penetration pipe bender using 3-RPSR parallel mechanism. Since the pipe bending is processed by penetrating a pipe into a fixed die and a movable die supported by a moving plate, traveling range of orientation angle should be as large as possible and mechanical stiffness of the moving plate should be as high as possible. Therefore, the authors apply 3-RPSR parallel mechanism to the movable-die drive mechanism. Regarding the pipe bending task, firstly, desired shape of a pipe is converted to a freeform curve described by Frenet-Seret formula. Subsequently, position and orientation of the moving plate is calculated by using the curvature and torsion of this curve. Through several experiments, bending pipes to helix of various changing curvature and torsion were successfully performed to demonstrate the effectiveness of the proposed methodology.
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