ABSTRACT
Single Point Incremental Metal Forming (SPIMF) allows architectural panels to be cold-formed from sheet metal into doubly curved complex shapes using a robotic arm and a stylus-like end-effector. It leverages industrial robots' precision and strength by gradually pushing the end-effector into vertically supported sheet metal. The system creates the ability to deform steel into complex doubly curved geometries. Typical deformations in steel would be created using a die which limits each panel to a single geometry. This system creates the flexibility to define each panel individually. SPIMF uses a ball bearing held in place with a magnet located inside of a hardened steel tube attached as the end-effector of a 6-axis industrial-grade robotic arm. The robotic arm traces a series of contours, gradually pushing into a 20 gauge piece of steel sheet metal. The process of creating routines for the robot are created using a set of planes which follow a gradually changing set of contour lines.
