Defining Cell Components

Every bending cell in MRobot contains compulsory and optional components.
Compulsory components are:

• Press brake
• Robot
• Gripper – One or more
• In-pallet
• Out-pallet – One or more

If the robot is mounted on a rail, then the cell must also have:

• Plate on which the robot is mounted
• Rail

Optional components are:

• Orientation table, also called an Indexing table or a Reference table
• Regrip station
• Gripper changing station – Currently used only to avoid collisions when calculating trajectories
• Auxiliary objects – Used only to avoid collisions when calculating trajectories

Before importing components into MRobot, the 3D model of each component goes through a simplification process, in which all rounded contours and surfaces are replaced by polygons. The purpose of this process is to save time during collision detection.