Force prediction for correction of robot tool path in single point incremental forming

Jérémy Belchior (1) , Dominique Guines (1) , Lionel Leotoing (1) , Eric Ragneau (1)

1 LGCGM - Laboratoire de Génie Civil et Génie Mécanique

In this work, an off-line compensation procedure, based on an elastic modelling of the machine structure coupled with a Finite Element Analysis (FEA) of the process is applied to Robotized Single Point Incremental Forming (RSPIF). Assuming an ideal stiff robot, the FEA evaluates the Tool Center Point (TCP) forces during the forming stage. These forces are then defined as an input data of the elastic robot model to predict and correct the tool path deviations. In order to make efficient the tool path correction, the weight of three numerical and material parameters of the FEA on the predicted forces is investigated. Finally, the efficiency of the proposed method is validated by the comparison between numerical and experimental geometries obtained with or without correction of the tool path.

Mots clés: Incremental Sheet Forming (ISF); Finite Element Analysis (FEA); force prediction; industrial robots; experimental validation

Domaines: Mécanique des matériaux [physics.class-ph]; Mécanique des matériaux [physics.class-ph]

Jérémy Belchior, Dominique Guines, Lionel Leotoing, Eric Ragneau. Force prediction for correction of robot tool path in single point incremental forming. 16th annual ESAFORM Conference on Material Forming, Apr 2013, Aveiro, Portugal. pp.1282-1289, ⟨10.4028/www.scientific.net/KEM.554-557.1282⟩. ⟨hal-00872570⟩