Preliminary communication

Simulation of double robot cooperative sheet metal bending production line

Y. Q. Cai ; College of Mechanical Engineering, North China University of Science and Technology, Hebei, Tangshan, China *
Z. H. Geng ; College of Mechanical Engineering, North China University of Science and Technology, Hebei, Tangshan, China
H. W. Wu ; College of Mechanical Engineering, North China University of Science and Technology, Hebei, Tangshan, China

* Corresponding author.

Abstract

Aiming at the problem that large sheet metal bending parts cannot be processed by single robot, and the manual assisted bending method has high labor intensity and low work efficiency; double robots work together to complete the handling of the plate; Firstly, according to the actual production requirements of sheet metal bending, the process planning and three-dimensional modeling of the production line are completed. Secondly, the kinematics analysis and base coordinate system calibration of the dual robot are completed. Then, by establishing the mathematical model of each unit, the end pose matrix in the local coordinate system of the robot is finally obtained, and the joint angles of the robot machine are obtained by inverse kinematics. Finally, the production line simulation is completed by Rapid offline programming. The research results show that the kinematics model is correct, and the production line can complete the sheet metal bending work without collision, which can provide reference for the research of large sheet metal bending.

Keywords

sheet; bending; double-robot cooperation; mathematical model; production line simulation

Hrčak ID:

315702

URI

https://hrcak.srce.hr/315702

Publication date:

1.7.2024.

Visits: 692 *