抄録
This paper describes the method which generates bending process plan for sheet metal bending with handing robot. In process planning for sheet metal bending with handing robot, grasping position and reposition timing must be determined as well as bending sequence, tools and gage position for measuring bending line. When grasping position of handling robot is determined on sheet metal, the deformation of sheet metal to a grasping position must be taken into consideration. In this method, The determining of grasping position is solved in analyzing the sheet metal deformation to a grasping position by using of finite element method. The algorithm for determining grasping position is shown as follows. Firstly, The CAD data of sheet metal flat pattern is triangulated by the method of Dealunay tringulation. And then, Subsequent shape of sheet metal part is constructed. Several grasping position candidates are specified, and the constraint on the position is specified. The deformation minimum grasping position candidate is indicated as grasping position.
