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Abstract: The single point incremental forming process (SPIF) of the metal sheets is a modern method of plastic deformation, with an enormous potential regarding the flexibility and personalization of the parts obtained by this process. SPIF of a sheet metal is a technologic manufacturing process where a sheet metal is formed into a desired part by a series of small incremental deformations. The main research objective is to determine the joint torques from the kinematic structure of the KUKA KR6-2 industrial robot during SPIF process. The dynamic model of the robot during SPIF processes is also presented. This study is necessary to determine if KUKA KR6-2 robot can be used for SPIF manufacturing processes of thin metal sheets without mechanical failure over time. To study and simulate the KUKAKR6-2 robot's dynamic behavior during the SPIF process, first the forces that appear during the process must be examined.
Keywords: Single point incremental forming, KUKA KR6-2, force analysis.
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1. INTRODUCTION
Industrial robots have found their place in a wide range of technological processes, replacing the human operator in performing auxiliary or basic operations. The most important applications are in the following areas: in mechanical machining processes Fig. 1, for the automatic supply of parts, tools or devices for CNC machines, or for drilling or grinding operations.
Another important application are the ones that follows: in automated assembly processes where the robot manipulates assembled parts or tools used for this purpose, in forging-pressing technologic processes, for the service of incinerators or presses and dies, in processes like spot welding or arc welding, where the robot manipulates the spot welding head or the electrode in arc welding, in casting processes, for manipulation of moulding frames, for cores mounting, for casting cleaning or for automatic feeding of pressure casting machines.
Nevertheless industrial robots have applicability in technological processes of superficial coatings, in which they handle painting guns or parts that are submerged in coating baths, pickling, etc., in technological heat treatment processes where they handle the parts when heated in furnaces or immersion in treatment baths, in carrying out the automatic control of the dimensions and shape of the parts and when loading and unloading the conveyors in stacking, transporting or storing operations.
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