To address the challenges of interference and difficulty in achieving a one-time forming process with traditional pipe bending machines when handling complex pipe components, we propose an innovative solution: a pipe bending robot device that integrates industrial robots and bending machine heads for efficient processing and forming of complex pipes. This study focuses on the pipe bending robot, employing an improved D-H method for modeling and completing the forward kinematic analysis. In terms of inverse kinematics, a method combining joint angle parameterization with pre-set redundant angle input is utilized based on the robot's configuration. The axis-angle method is used to represent the attitude Angle of the motion around the tube, and the attitude Angle is planned by the polynomial interpolation algorithm. Through real machine testing, the pipe bending robot's motion around pipes has been successfully achieved, providing theoretical support and practical value for the application of industrial robots in the field of pipe bending.

Research on Motion of Multi-DOF Pipe Bending Robot