The formability and geometrical accuracy in incremental sheet forming can be increased using a force-controlled support tool. The main problems in using such a kinematic support tool is the positioning of forming and support tools, while maintaining force magnitude and alignment. A new tool for this was developed systematically using a morphological box. It uses a spring controlled rotation of the tool tip to maintain the force. Since the rotation axis is not in line with the tool tip axis and the tool tip can freely rotate around its axis, roll friction conditions can be achieved. The center of gravity of the rotating part of the tool is placed in the rotating axis and the force is therefore independent from the alignment of the tool in space. It has a mechanical stop with locking option in the vertical position and is therefore also fully usable as a forming tool. While the prototype is manually controlled, concepts for a fully automated version have been designed, as well. First tests are in line with results described in literature, showing that direction and magnitude of force have an influence on the formability.
for das Brenn-und Plasmaschneiden
182Z u s a m m e n f a s s u n g Das thermische Schneiden an Rohren mit Industrierobotern erfordert eine geeignete Bereitstellung des Bauteils unter Berficksichtigung von Position, Orientierung und relativer Geschwindigkeit zum Robotereffektor. Da die Qualit~it der Bearbeitung stark yon der Einhaltung der exakten Schnittgeschwindigkeit abh~ingt, ist eine optimale Abstimmung der Roboterbewegung und der Rohrdrehung erforderlich. Die Handhabung des Rohres erfolgt in der Regel durch Drehpositionierer, deren Bewegungen yon der Robotersteuerung vorgegeben werden. Das hier beschriebene Verfahren dient zur Generierung yon Bewegungsdaten zur synchronisierten Ansteuerung von Drehpositionieren. Das Ziel ist dabei eine optimale Schnittqualit/it, die zu optimierenden Parameter sind Position, Orientierung und Geschwindigkeit des Brenners sowie das Beschleunigungsverhalten des Drehpositionierers.Abstract Thermal cutting on pipes with industrial robots requires a suitable handling of the workpiece considering the position, orientation and speed relative to the robot effector. Since the processing quality is highly dependent on keeping the exact cutting speed, an optimal coordination of the robot movement and the turning velocity of the workpiece is required. The handling of pipes is usually done by external rotary positioners which are driven by the robot controller. This paper introduces a method for the generation of motion data for the synchronized control of rotary workpiece positioners. The aim is an optimal cutting quality. The parameters to be optimized are the position, orientation and speed of the cutting torch as well as the acceleration of the positioner.
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