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Design and implementation of a 6-DOF robot flexible bending system

Published: 01 December 2023 Publication History
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  • Highlights

    A novel physical prototype of the 6-DOF RFB system was designed and established.
    A novel incremental analysis algorithm for the 6-DOF RFB process was proposed based on the space vector.
    A novel space attitude analysis algorithm for the 6-DOF RFB process was introduced depending on the control points.
    The experiments were made to verify the feasibility of the 6-DOF RFB system and the reliability of the incremental analysis algorithm.

    Abstract

    This study proposed a new design, analytical algorithms, and control of a novel 6-DOF robot flexible bending (RFB) system to manufacture bending components with complex spatial structures. First, a novel 6-DOF RFB system was designed based on the principles of RFB technology. Then, novel analytical algorithms named the incremental analysis algorithm (IAA), and space attitude analysis algorithm (SAAA)) were proposed for the 6-DOF RFB system to analyse the forming procedures of 3D complex-shaped hollow components. According to the IAA, a novel physical prototype and a control program of the 6-DOF RFB were built. The feasibility of the 6-DOF RFB system and the reliability of the IAA were verified by the bending experimentation on the AA6061-T6 spatial spiral tube. The dimensions of the test sample were measured using a 3D optical scanner system to evaluate the forming precision of the established 6-DOF RFB system. The results showed that the 6-DOF RFB system could effectively form complex-shaped hollow components. However, there are still large deviations in the test sample, with an average error of 0.68% in the actual bending angle and an average deviation of 6.93 mm in the spatial axis.

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    References

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    Published In

    cover image Robotics and Computer-Integrated Manufacturing
    Robotics and Computer-Integrated Manufacturing  Volume 84, Issue C
    Dec 2023
    313 pages

    Publisher

    Pergamon Press, Inc.

    United States

    Publication History

    Published: 01 December 2023

    Author Tags

    1. Robot flexible bending
    2. Space vector
    3. Robotic motion control
    4. Tube bending

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