Dynamic analysis of a robot-based incremental sheet forming using Matlab-Simulink Simscape™ environment

Abstract

This paper presents a dynamic analysis of a KUKA KR210-2 articulated robot used in single point incremental forming (SPIF) process. The development of a dynamic robot model offers the possibility to determine values of the joint torques during the SPIF process. This dynamic model of the KUKA robot was obtained by importing a three-dimensional (3D) CAD model of KUKA KR210-2 robot into Simulink-Simscape Multibody™ environment. By importing the CAD model into Simscape Multibody™, all mechanical characteristics of the robot were imported. To be able to drive the KUKA KR 210–2 robot on a certain user-imposed trajectory, solving the kinematic problem represents a necessary step. Solving the inverse kinematic problem is based on a geometric approach and is validated using Simscape Multibody™. To validate the developed dynamic model, a frustum cone geometry was chosen to perform the simulations. The input data for the dynamic model are represented by the user-imposed trajectory and the forming forces. The imposed trajectory was generated by a CAM software program, SprutCAM. The forming forces developed during the SPIF process was determined by means of a force transducer. The output data from the dynamic model are represented by the values of the joint torques developed during SPIF.