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Defining Cell Components

Every bending cell in MRobot contains compulsory and optional 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.

Defining Cell Components