机器人柔性翻边成形轨迹优化

doi:10.7527/S1000-6893.2022.26886

Abstract

Abstract:

A certain edge or multiple edges with curved flanged sheet metal parts are widely used in aerospace. The use of robot-assisted flexible flanging technology can overcome the limitations of traditional manual forming such as high labor intensity， low efficiency， and difficulty in guaranteeing the consistency and reliability of product quality， and realize the rapid and accurate forming of multi-passes and small-patch flanged sheet metal parts. However， robot-assisted flexible flanging technology is a trajectory-controlled local loading forming technology， which is prone to such defects as free end collapse and springback during the forming process. Combined finite element simulation with experiment， the mechanism of collapse formation in the flexible flanging process is analyzed； the robot flexible flanging trajectory optimization is then studied. The results of the study show that the rolling-in trajectory of the forming roller has the greatest influence on the free end collapse of the flanged part， and the best improvement effect is achieved when the free end pre-forming scheme is selected and the distance from the rolling-in point to the free end is 20 mm. Based on the optimized forming roller rolling-in and rolling-out trajectory， the flanged parts can be obtained without free end collapse， and the error of the flanging opening angle and the fillet radius is less than 0.5° and 0.5 mm， respectively.

Key words: robot-assisted flexible flanging, flanging parts, FE simulation, trajectory optimization, forming quality

CLC Number:

V261.2⁺8

Xuan CHENG, Yixi ZHAO, Shuman YOU. Trajectory optimization of robot-assisted flexible flanging[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(4): 426886-426886.

Figures/Tables 37

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力学性能	数值
密度 ρ/（g·cm^-3）	2.64
泊松比 ν	0.33
延伸率 δ/%	27.36
杨氏模量 E/GPa	70
屈服强度 σ_s/MPa	158.8
强度系数 K/MPa	127.73
应变硬化指数 n	0.35

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Trajectory optimization of robot-assisted flexible flanging

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Figures/Tables 37

References 28

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序号	优化方案	l_i/mm
1	a	5
2	a	12.5
3	a	20
4	a	25
5	a	35
6	a	50
7	b	5
8	b	12.5
9	b	20
10	b	25
11	b	35
12	b	50