抄録
Hemming is a process in which inner and outer panels of automobiles are joined by bending the edges of the outer panel over the inner one. The robot roll hemming process is highly suitable for increasing production volumes and varying product shapes in automobile flexible assembly line. Due to the deformation of the panels, a large fluctuation of the trajectory of a hemming robot's end-effector in the pre-hemming process affects the final hem quality. In order to analyze the fluctuation, the dynamics simulation considering the time-varying external forces is presented. The multi-body dynamics model is established by the Schiehlen's method. The external loads from robot roll pre-hemming in a specific path are computed by finite element analysis (FEA) method. The simulation results show that the end-effector of the hemming robot goes through an unexpected and fluctuant path. Therefore, to obtain good hem quality, dynamics simulation under 'real' external loads is necessary and provides the basis for active control of roll hemming robots.
