板金のロボット曲げ加工の工程設計自動化に関する研究 : 加工精度を考慮した工程生成手法

概要

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The method which generates bending process plan for sheet metal bending with handling robot is proposed. In process planning for sheet metal bending with handling robot, grasping position and reposition timing must be determined as well as bending sequence, tools and gage position for measuring bending line. Bending operation is always accompanied with errors such as spring back, gage positioning error. In addition, these errors are accumulated to some specified dimension so that process plan in which the errors may not be accumulated on critical dimension must be decided. In this paper, the problem of accumulated error is solved by using graph and tree. The graph which consists of bending line and faces is generated by flat pattern and the tree which is specified by grasping position of handling robot as root node is generated by the graph. And then, some heuristic rules for solving the accumulated errors are presented. As a result, bending process plan can be obtained by applying these heuristic rules to the tree. Computer simulation was carried out based on the proposed method. Illustrative examples and results of simulation are given. The effectiveness of this method is discussed.
公益社団法人精密工学会の論文
2002-04-05