Design of simulation platform for robot sheet metal bending system

ZHU Jia-hao, YOU You-peng, WANG Peng-yu
(College of Mechanical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China)

Abstract: Aiming at the problem that the existing sheet metal bending processing robot adopts teaching programming, low efficiency and long equipment consumption, the simulation platform of the sheet metal bending robot was design andconstructed.Based on the parameter configuration and local coordinate system definition of each component unit of the system, the parameterized import and positioning were completed, and the environment construction of the system simulation platform was realized. By analyzing the mathematical model of robot operation end pose and task target pose under the sheet metal bending task state, the relationship between robot end pose and task target pose was established to generate the bending operation robot task at the end of the target position, and the joint angle was generated through the robot motion simulation module. Finally, experimental sheet metal parts were selected to carry out simulation test on this platform. The results indicatethat the simulation platform can correctly generate the target posture of the robot for different sheet metal processing tasks, and realize the processing simulation, whichprovides reference for offline programming system research of the robot for sheet metal bending process.
Key words: sheet metal bending; off-line programming; operation end pose; task target pose; simulation platform