Differential geometry modeling and application of roller pose and trajectory of robot roller hemming for complex curved surface-curved edge panels. (October 2023) - Wang, Shunchao
Highlights: This work proposed a method for solving the roller pose and trajectory of robot roller hemming for curved surface-curved edge panels. The roller position equation is solved based on the offset method. The roller posture is solved based on the homogeneous matrix transformation. The roller trajectory is planned for multi-pass roller hemming. Abstract: Roller hemming is a relatively new process used to achieve high-precision assembly of auto-body enclosure panels. During the process of roller hemming, accuracy of the roller pose and trajectory affects the hemming quality of the product. The traditional passive method based on robot teaching to determine the pose of the roller is inefficient and time-consuming. In these studies, we proposed an active method for solving roller pose and trajectory based on differential geometry for curved surface-curved edge geometric characteristics of auto-body enclosure panels and multi-pass reciprocating motions of the roller. Firstly, the local coordinate system of the die was constructed based on the Frenet Frame according to the normal vector of the surface of die and the tangent vector of the curved die edge. Secondly, the coordinate system of the die, diameter of the roller, TCP-RTP value, and inclination of the roller were combined to form the roller pose based on a homogeneous transformation matrix. Based on the obtained trajectory curve of the roller reference point, the equal chord deviation error method was used to analyze the roller trajectory. Finally, a roller pose and trajectory solving algorithm was developed based and implemented using PYTHON to obtain the positions and poses of the roller at several discrete reference points. ABAQUS software was subsequently utilized to complete modeling of the roller pose and trajectory. This research supports the multi-field mechanical simulation of robot roller hemming for curved surface-curved edge panels and provides support for determining roller pose and kinematic trajectory of industrial robot roller hemming for curved surface-curved edge panels.