Title: Obtainable Accuracies and Compensation Strategies for Robot Supported SPIF
Authors: Verbert, Johan
Aerens, Richard
Vanhove, Hans
Aertbeliën, Erwin
Duflou, Joost
Issue Date: 2009
Publisher: Trans Tech Publications
Host Document: Key engineering materials vol:410-411 pages:679-687
Conference: International Conference on Sheet Metal edition:13 location:Birmingham, ENGLAND date:06-08 April 2009
Abstract: Single point incremental forming (SPIF) is a flexible forming method allowing to shape
sheet metal without the need for die. This process is particularly well suited for rapid prototyping
and small series production. The classical setup for incremental forming is a specialised rig
mounted on a standard milling machine. While this is an economic solution for small to medium
size workpieces, large parts require the availability of a big and therefore expensive machining
centre. A cheap solution consists in using a robot, which typically has a much better workable range
to cost ratio. Unfortunately a robot is usually not a stiff machine, with the consequence that during
forming, due to the forming forces, the deformation of the robot can be orders of magnitude greater
than the accuracy of the process. In consequence the accuracy of the achieved part is significantly
affected. To overcome this problem, a strategy for compensating the deflection of the robot at the
level of the tool has been implemented. To support this strategy, two variables have to be examined:
the forming forces on one hand and the stiffness of the robot on the other. In this paper it is
demonstrated how, based on robot kinematics, the tool deflection can be computed from the
knowledge of compliance of each joint in terms of angle deflection versus the moment load applied
to the joint. Experimental results illustrate the effectiveness of this approach.
ISSN: 1013-9826
Publication status: published
KU Leuven publication type: IC
Appears in Collections:Production Engineering, Machine Design and Automation (PMA) Section
Centre for Industrial Management / Traffic & Infrastructure

Files in This Item:
File Description Status SizeFormat
0-87849-336-0_679.pdf - Adobe Reader.pdfMain Article Published 796KbAdobe PDFView/Open Request a copy

These files are only available to some KU Leuven Association staff members


All items in Lirias are protected by copyright, with all rights reserved.

© Web of science