SINGLE POINT INCREMENTAL FORMING USING KUKA KR6-2 INDUSTRIAL ROBOT - A DYNAMIC APPROACH

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.