Robot-Assisted Metal Sheet Forming using Grasshopper

Overview

This project investigates how Grasshopper can facilitate communication with the Universal Robots UR10 collaborative robot to perform metal sheet forming tasks on a flat planar surface. By leveraging Grasshopper's parametric design capabilities and integrating advanced plugins, the system achieves precise control and high-quality outputs. The research aims to provide open-source tools and detailed documentation for broader accessibility and adoption.

Project

• Incremental Metal Sheet Forming (Using FTP approach)
• Incremental Metal Sheet Forming (Using RTDE approach)

Software Requirement

• Rhino 7 or latest
• Robot plugin
• Generation plugin
• Docofossor | Github Plugin - Documentation

Key Features

• Parametric Design Control: Use Grasshopper to dynamically adjust the overall aesthetic / form of the metal panel.
• Compatibility with Universal Robot: Seamless integration with UR collaborative robots for industrial applications.

Repository Structure

• GrasshopperFiles/: Grasshopper scripts.
• RhinoFiles/: Robot workcell, and end-effectors.
• Assets/: Images, thumbnails and videos
• Docs/: Documentation for installation, experiment setup, and troubleshooting.

Tip

For more setup instrucions and usage, see the Wiki.

Contributing

Contributions to improve this workflow are welcome! Please follow the contributing guidelines in the contributing guidelines in wiki.

Code of Conduct

This project follows the Contributor Covenant Code of Conduct. Please read our Code of Conduct before contributing.

Warning

If you are unfamiliar with using cobots (collaborative robots), please ensure you have supervision from a qualified advisor or professional. Alternatively, simulate your intended workflow in a Grasshopper environment before working with physical machines. The contributor or owner of this repository is not responsible for any physical damage, injury, or harm caused to the immediate environment or individuals due to improper usage of cobots or related tools.

Acknowledgements

This project was independently developed as part of my personal initiative and commitment to advancing this field.

References

1. darcy_z. (n.d.). Incremental Sheet Forming: An Introduction. Retrieved from https://www.instructables.com/Incremental-Sheet-Forming-an-Introduction/
2. Zahner, A. (2024). Onsite Forming at Rob Arch. Retrieved from https://www.azahner.com/labs/onsite-forming-at-rob-arch
3. Kalo, A., & Newsum, M. (2014). Robotic Incremental Sheet Metal Fabrication. ACADIA 2014: Design Agency, 71–74. https://doi.org/10.52842/conf.acadia.2014.071
4. Kalo, A., & Newsum, M.J. (2014). An Investigation of Robotic Incremental Sheet Metal Forming as a Method for Prototyping Parametric Architectural Skins. In W. McGee & M. Ponce de Leon (Eds.), Robotic Fabrication in Architecture, Art and Design 2014 (pp. 33–46). Springer, Cham. https://doi.org/10.1007/978-3-319-04663-1_3