TY - JOUR
T1 - An iterative path compensation method for double-sided robotic roller forming of compact thin-walled profiles
AU - Liu, Yi
AU - Qiu, Junpeng
AU - Wang, Jincheng
AU - Lian, Junhe
AU - Hou, Zeran
AU - Min, Junying
N1 - Funding Information:
This research was supported by the Science and Technology Commission of Shanghai Municipality (Grant number: 21170711200 ). Yi Liu is grateful for the support from China Scholarship Council (Grant number: 202206260121 ).
Publisher Copyright:
© 2023 Elsevier Ltd
PY - 2024/4
Y1 - 2024/4
N2 - High-precision robotic forming of ultrahigh strength materials is challenging due to the significant stiffness deformation of industrial robots. In this work, a double-sided robotic roller forming process was developed to form ultrahigh strength steels to thin-walled profiles. Synchronized laser heating prior to plastic deformation was initially introduced as a means of reducing the required forming forces. Considering the varying forming forces during the compensation of stiffness-deformation-induced path deviation, an iterative path compensation method was proposed and implemented to enable continuous adjustments of path compensation values, utilizing a robot stiffness model and the correlation between compensation values and forming forces. Results show that laser heating has a significant positive effect on reducing springback angle due to the decrease of forming forces, while the path compensation facilitates the forming of compact thin-walled profiles with sharp bending radii. It is validated that the proposed method for iterative path compensation is conducive to the determination of the optimized path compensation values with limited iterations.
AB - High-precision robotic forming of ultrahigh strength materials is challenging due to the significant stiffness deformation of industrial robots. In this work, a double-sided robotic roller forming process was developed to form ultrahigh strength steels to thin-walled profiles. Synchronized laser heating prior to plastic deformation was initially introduced as a means of reducing the required forming forces. Considering the varying forming forces during the compensation of stiffness-deformation-induced path deviation, an iterative path compensation method was proposed and implemented to enable continuous adjustments of path compensation values, utilizing a robot stiffness model and the correlation between compensation values and forming forces. Results show that laser heating has a significant positive effect on reducing springback angle due to the decrease of forming forces, while the path compensation facilitates the forming of compact thin-walled profiles with sharp bending radii. It is validated that the proposed method for iterative path compensation is conducive to the determination of the optimized path compensation values with limited iterations.
KW - Bending radius
KW - Flexible forming
KW - Laser-assisted forming
KW - Path compensation
KW - Robot stiffness deformation
UR - http://www.scopus.com/inward/record.url?scp=85177492061&partnerID=8YFLogxK
U2 - 10.1016/j.rcim.2023.102689
DO - 10.1016/j.rcim.2023.102689
M3 - Article
AN - SCOPUS:85177492061
SN - 0736-5845
VL - 86
JO - Robotics and Computer-Integrated Manufacturing
JF - Robotics and Computer-Integrated Manufacturing
M1 - 102689
ER -