Heuristic Algorithmic Approach for Automatic Generation of Pin Layout for Robotic Unloading of Sheet Metal Parts
In typical robotic sheet metal bending process, unloading of sheet metal parts is a challenging task due to complex nature of three-dimensional part geometry, and it is not possible to place the parts on a flat table. Hence, there is a need to design proper unloading station that allows the robotic gripper to unload the part with stability and without any collision. For this purpose, this paper proposes configuration of unloading station with a perforated table with a specific pattern of holes in which cylindrical pins are inserted. Then, a CAM system with a heuristic algorithm, along with a graphical interface, is developed to identify the number and distribution of pins on a perforated table that supports the part in a stable manner. The results are validated, for a variety of complex-shaped parts, using a graphical simulation tool.
KeywordsRobotic bending Sheet metal bending CAM system Automation Unloading of sheet metal parts
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