Dynamic analysis of a robot-based incremental sheet forming using Matlab-Simulink Simscape™ environment

Bârsan, Alexandru; Racz, Sever-Gabriel; Breaz, Radu-Eugen; Crenganiș, Mihai

doi:10.1016/j.matpr.2022.03.134

Cited by 4 publications

(2 citation statements)

References 12 publications

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“…For these reasons, Simscape Multibody is a perfect candidate to build high-fidelity digital twins of robots. In fact, Simscape Multibody has already been successfully used in the field of robotics to build models of articulated [9][10][11][12][13][14][15][16][17], parallel [18,19], mobile [20,21] and legged robots [22,23]. It has also been used to test a robot dynamic parameter identification method in [24], to test robot control strategies in [25][26][27][28], to model and simulate a multi-fingered robot arm grasping [29] and to design a 5 degrees of freedom manipulator for additive manufacturing in [30].…”

Section: Introductionmentioning

confidence: 99%

Designing Digital Twins of Robots Using Simscape Multibody

Boschetti,

Sinico

2024

Robotics

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Digital twins of industrial and collaborative robots are widely used to evaluate and predict the behavior of manipulators under different control strategies. However, these digital twins often employ simplified mathematical models that do not fully describe their dynamics. In this paper, we present the design of a high-fidelity digital twin of a six degrees-of-freedom articulated robot using Simscape Multibody, a Matlab toolbox that allows the design of robotic manipulators in a rather intuitive and user-friendly manner. This robot digital twin includes joint friction, transmission gears, and electric actuators dynamics. After assessing the dynamic accuracy of the Simscape model, we used it to test a computed torque control scheme, proving that this model can be reliably used in simulations with different aims, such as validating control schemes, evaluating collaborative functions or minimizing power consumption.

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Section: Introductionmentioning

confidence: 99%

Designing Digital Twins of Robots Using Simscape Multibody

Boschetti,

Sinico

2024

Robotics

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“…In SPIF, the sheet is generally formed with a round-tipped tool, typically between 5 mm and 20 mm in diameter. The tool, can be incorporated into a conventional CNC machine (Hu et al, 2017), robotic arm (Bârsan et al, 2022) or a similar device (Mohanty et al, 2021). In SPIF, the workpiece/semi-finished part is clamped, and a round-tipped tool is programmed to follow the circumference of a special input toolpath designed with the aid of computer-aided design (CAD) technology.…”

Section: Introductionmentioning

confidence: 99%

The role of die definition in the numerical simulations of two-points incremental forming processes

Perzyński¹,

Pawlikowski²,

Madej³

2023

cmms

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The main objective of this work is to investigate the influence of the definition of dies type in the finite element simulation of the two-points incremental forming processes (TPIF). Particular attention is on determining the effect of assigning elastic properties for the 3D printed dies or considering fully rigid on the final results. During the research, three different shapes of dies were analyzed. Simulation results in the form of sheet thickness distributions and measured forces are presented for comparison purposes.

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