Automatic computation of bending sequences for wire bending machines

Determining a feasible bending sequence, i.e., ensuring absence of wire self-collisions and wire-machine collisions, or even an optimal minimising time energy required to perform it, is difficult time-consuming task for complex workpieces, expert operators. Introducting algorithms the computation wire-bending sequences thus crucial increase productivity production flexibility, decrease costs. This work proposes algorithm automatically determine appropriate sequence given workpiece, tool, machine 3D CAD model, which leverages on representation as robotic manipulator tree, adoption A* graph search algorithm. A cost heuristic function, suitable problem, approach parallelise execution are introduced, well. In this way, computationally simple efficient devised, able solution in amount less equal used by operator, without need high computational power. The effectiveness assessed two different test cases, relevant industrial workpieces.