Abstract
Bending is an important procedure for processing sheet metals, while it is a key link in the realization of automatic processing of sheet metal. To improve the efficiency and accuracy of bending processing, this article proposed a structure model and a prototype of a six-axis Cartesian coordinate robot for sheet metal bending to replace workers completing automatic bending processes. Based on the analysis of overall structure schemes of the robot, kinematic simulation is conducted by using the automatic dynamic analysis of mechanical system (ADAMS). Furthermore, the dynamic performance of the structural model of the robot for sheet metal bending is analysed and design optimization is performed. A prototype of the robot based on the optimal structural model of six-axis Cartesian coordinate robot for sheet metal bending is made. Finally, under the work conditions, the efficiencies and accuracies of sheet metal bending by a worker and the robot are compared and tested. The structural model of six-axis Cartesian coordinate robot for sheet metal bending presented in this article is found to be applicable to sheet metal bending robot and improves the stability of sheet metal bending machine. The laboratory testing and experimental results verified the feasibility of the proposed robot.
Highlights
Sheet metal processing, as a traditional industry, is common in industrial production and is a labour-intensive, high-risk activity
A prototype of the robot based on the optimal structural model of six-axis Cartesian coordinate robot for sheet metal bending is made
In view of the low efficiency and accuracy of manual bending, this study proposed a structural model of a six-axis Cartesian coordinate robot for sheet metal processing and analysed the dynamic performance thereof
Summary
As a traditional industry, is common in industrial production and is a labour-intensive, high-risk activity. Many researchers studied the positioning repeat-ability and payload identification of industrial robots.[3,4] Li and Du modelled processing lines for sheet metals through the simulation software, improving production efficiency.[5] Yan et al developed a robot for sheet metal bending in a five-axis rectangular coordinate system and mainly analysed the flexural rigidity of the main structure. In view of the above problems, according to bending process of sheet metals, the authors investigated the structural design and dynamic response performance of a robot for sheet metal bending based on the design methods and concept of CNC tooling. This article is structured as follows: in the second section, a structural model of a robot for sheet metal bending is proposed according to the needs of bending process and kinematic simulation analysis is conducted. The research is summarized, and possible future research proposed, in the fifth section
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