Optimized Bending Sequences of Sheet Metal Bending by Robot

In the present study, a method is proposed which generates bending sequences of a sheet metal part handled by a robot. If parts are handled by a robot, the best grasping positions for each bending and the number of repositions must be indicated in advance. Using the proposed method, feasible bending sequences with grasping positions are obtained and the sequences are sorted in order of the number of repositions. In generating the sequences, several important features for the sheet metal bending are considered by dividing them into channels, which is one of the base features. The error accumulated during bending operation is calculated for each sequence, and set-up positions can be selected so as to satisfy the preferential tolerance. The proposed method assists the sheet metal process planner by allowing him/her to plan in advance the best bending sequences and to confirm if the robot can perform the handling operation. A computer simulation was written based on the proposed method, and illustrative examples and results of various simulation models are also given.