Johra, Marwan (Univ Rennes, INSA Rennes, LGCGM), Courteille, Eric (Univ Rennes, INSA Rennes, LGCGM), Deblaise, Dominique (Univ Rennes, INSA Rennes, LGCGM), Guégan, Sylvain (Univ Rennes, INSA Rennes, LGCGM), Le Breton, Ronan (Univ Rennes, INSA Rennes, LGCGM)

Robotization of Manufacturing Processes: Model-Based Correction and Vibration Assistance for ISF

Scheduled for presentation during the Invited Session "Mechatronic approaches in advanced manufacturing for Industry-of-Future" (WeBT1), Wednesday, July 16, 2025, 15:00−15:20, Room 105

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on July 16, 2025

Abstract

Robotized Incremental Sheet Forming (RISF) is a die-less forming process involving incrementally reshaping a material sheet as an alternative to deep drawing. By applying localized pressure to the sheet with a unique tool, the desired part is obtained following a given robotic trajectory. Under the forming force generated during this process, the robot elastically deforms itself, resulting in low geometrical accuracy and limited force range. This study builds on two prior developments introduced by the authors to enhance the RISF process: an elasto-geometrical model-based control strategy that uses force feedback to compensate for robot deflection in real time, and a vibratory assistance that employs a vibrating tool driven by a piezoelectric actuator coupled with a resonating structure to reduce forming forces. The present study focuses on the experimental assessment of the combined effect of these two approaches. Real-condition tests conducted with a Stäubli TX200 robot enable the analysis of each improvement’s contribution to the overall reduction in positioning error, which reaches up to 70%.