1A2-A18 力覚フィードバックのあるスピニング加工用教示装置の試作

概要

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To make an operator feel the working force in teaching works of metal spinning, a teaching device which is constructed a XY table and a handlebar with a force sensor was prototyped. Metal spinning is a plastic forming process in which a metal sheet is formed on a rotating mandrel using the force of a roller. A teaching device is used to demonstrate a successful tool trajectory of a NC spinning late by an operator. In this paper, the force-feedback was performed using a robotic master-slave control method based on virtual internal models. The basal utility of the forming system was experimentally verified on a shear spinning task from aluminum sheets of 0.8-mm thickness to cone shells. And the working strategy of the roller motion and thrust force to form winkle-less products in a shorter time was deduced from the working data.