Development of a Digital Twin for the ABB IRB 1200 robot in sheet metal forming processes

Abstract

This paper aims to detail the steps required to develop a digital twin based on a dynamic model of the ABB IRB 1200 7/0.7 robot (7kg payload, 0.7m maximum reach), using the Simulink platform. This model is needed in order to facilitate its use in robotic forming processes. The developed dynamic model allows a rigorous analysis of the resisting forces influencing the robot structure. ABB IRB 1200, being a small robot with a load capacity of only 7 kg, is ideal for complex simulations in Simulink, which can foresee various positioning configurations of the blank parts relative to the robot base to minimize the impact of the resistive forces.The use of the ABB IRB 1200 robot in roboforming processes is particularly relevant for the MIE department’s robotics lab from the Engineering Faculty of Sibiu, given the availability of two such units that can operate in synchronous mode. The synchronous implementation of two robots in roboforming processes has the potential to significantly improve the accuracy of manufactured components through the use of counter-punching. This method allows for tighter control of the forming process of metal parts, ensuring improved accuracy of finished products.