Force-Controlled Path Planning for Robot-Assisted Incremental Sheet Metal Forming: A New Approach to Addressing Dimensional Accuracy Challenges

• DOI: 10.56578/pmdf010404
• Publication Date: 2024-12-28T04:05:21Z
• Authors: Malik Čabaravdić; Dennis Möllensiep; Bernd Kuhlenkötter; Alfred Hypki

Incremental sheet metal forming (ISMF) is a promising manufacturing technique that has gained significant attention due to its ability produce complex geometries and high-quality products, particularly for small-scale production rapid prototyping. The integration of industrial robots into the ISMF process, referred as roboforming, enabled advancements in this field. However, inherent limitations robots—particularly reduced rigidity robotic arms with rotary joints—can lead dimensional inaccuracies deviations final product. These are primarily lack precise force control during process. To address these challenges, study introduces novel approach roboforming incorporates alongside position robot. contact between tool workpiece considered an additional variable loop, objective improving accuracy overall quality formed A regression analysis was conducted determine mean process required conical geometries, starting radius, infeed depth, wall angle, supporting angle serving input variables. Experimental validation revealed force-controlled incremental constant unfeasible, pressure highly dependent on current radius varies Therefore, new strategy proposed, which involves dynamic adjustment force, using parameter. This expected significantly enhance precision reliability robot-assisted ISMF, offering pathway overcoming applications.