Everything You Need to Know About Bend Machines

Bend machines are critical in many industries as they enable the precise and efficient shaping of metals and other materials. In construction, manufacturing, or custom fabrication, these machines allow operators to accomplish complex bents within specified tolerances. This article examines the fundamentals of bend machines, including their types, applications, and how they operate. Understanding the function of bend machines in various industries illustrates the role these tools have in advancing productivity and innovation, which is important for further development. Follow us as we explain the major features and developments that define this important technology.

What is a bending machine, and how does it work?

A bending machine is a tool that is used to change the shape of metals or plastics by applying force to make precise bends while avoiding breaks. The operation of the machine involves holding the workpiece in a fixed position while a bending tool, like a punch and die, is positioned over it. The tool applies a force at certain locations that are within controlled limits. Such force is sufficient to yield the material to the intended angle or shape. Bending machines are widely used in manufacturing and construction industries for the production of rods, brackets, frames, etc. Their accuracy and productivity are vital in accomplishing reliable outcomes in industrial settings.

Understanding the bending machine mechanism

The bending machine mechanism works through the application of force and impact sequencing, together with precision tooling, in order to change a material’s shape. The procedure fundamentally requires the placement of the material first between a punch and a die, and then controlled pressure is applied. It is this pressure that makes the material flow or deform along the predetermined direction angles and curves to obtain the desired outcomes. Among the notable parts of the mechanism are the clamps of the clamping system, which hold and secure the piece of material, and the forces, whether hydraulic or mechanical. The machines are made structurally accurate which enables them to mold the same shapes repetitively without unnecessary and excessive strain or damage to the material or components.

Key components of a bender

A bender integrates a succession of precision machinery and raw materials that are crucial to the bending process. The crucial components include:

Clamping System

• The clamping system positions the workpiece while the bending operation is executed to prevent any movement that may lead to imprecise results. Some advanced systems employ clamps that automatically adjust their strength and grading, which can be changed depending on the degree of thickness and hardness of the materials used.

Die And Mandrel

• New and advanced machines die range from v-dies, U-dies, and other custom profile dies. The die cam mandrel that is most common in the bending of tubes is used to support the hollow portion of the tube so as to avert the wrinkle or collapse this will happen for thin walls and tight radii bends. CNC-controlled systems for higher precision work reduce the adjustment range of die and mandrel angles to gain more accuracy with the movements.

Hydraulic or Mechanical Pressure System

• Bending machines of this type produce powerful and constant forces, which is more advantageous for heavier and thicker materials, which is why they are regarded as hydraulic systems. On the other hand, mechanical systems apply force using gears or levers, which serve lighter-duty purposes or are fast-paced. Modern benders can now produce pressure beyond a hundred tons, which enables the bending of metals such as steel, aluminum, and even titanium.

Control Interface

• The control interface sets parameters for the bender, including angle, force, and speed of bending. Modern systems feature touchscreen displays and software modules that enable operators to enter specific parameters, save them, and use them for volume production later. These interfaces are often equipped with error and self-diagnostic routines for better operational performance.

Support Rollers and Guides  

• Support rollers or guides aid in orienting and supporting the material during its transit through the bending operations. These elements minimize friction and avoid unwanted change of shape while increasing the accuracy of handling long or flexible materials, for example aluminum sheets.

Performance Data and Advances  

The majority of modern CNC (Computer Numerical Control) benders possess the capability of achieving tolerances of ±0.1 mm. This level of precision is unparalleled. Industrial applications continue to rely on hydraulic systems due to their capability to apply force uniformly over a large area for materials 20 – 30 mm thick. There has also been progress in software development with the addition of simulation features so that bends can be animated to demonstrate the expected behavior of the material which reduces the amount of material wasted.

Innovation in the chief components of benders and rotating control systems and hardware has transformed material shaping with increase efficiency, accuracy, and versatility for multiple industries.

Applications of various bending tools

Bending tools serve a multitude of industries due to their specific manufacturing needs, precision, and versatility. Here are the primary applications with supporting data where relevant:

Automotive Industry  

• Roll cages, chassis components, and exhaust systems are manufactured within this industry.
• Safety measures and performance standards are met through the use of tube bending machines, which enhance safety.
• Bending accuracy optimizes production efficiency by 15% in material savings.

Aerospace Industry  

• Bending tools are indispensable for automated solutions for aluminum and titanium parts used in aircraft fuselage, frame, and hydraulic tubing.
• More stringent aerospace industry standards require more automated quality consistency.
• The use of integrated simulation tools has been reported to improve productivity by 20%.

Construction and Infrastructure  

• Strategically important in the construction of tunnels and bridges and as structural steel in buildings.
• CNC rebar benders aid in the bending of rebar while guaranteeing up to 25% faster completion times at construction sites.

Furniture Manufacturing  

• Faster completion times are set off for ergonomic designs in metal frameworks for chair legs and table supports.
• Increased repeatability of geometric features diminishes fabrication time by 30% with specialized tools capable of these intricate bends.

Shipbuilding  

• Pipelines and structural reinforcements for vessels and submarines are formed with these tools essential for designing.
• For maritime durability standards, high-capacity benders accommodate up to 40 mm thick materials.

Energy Sector  

• These are commonplace in the construction of oil and gas, as well as renewable energy pipelines.
• Reliable and free-flowing pipelines are maintained when pipeline benders manage over 1 meter in diameter.
• Pipeline joint failures are decreased by 10-15% with accurate bending.

Medical Equipment Production  

• Stainless steel tubes and frames manufactured for use in hospital beds, surgical equipment, and wheelchairs are critical.
• Precision in critical health care needs is met by advanced micro bending tools that work at sub-millimeter precision.

As seen in the examples provided, bending tools have extensive and varied utility, showcasing the need for modern manufacturing technologies. The tools mosts undergos change and evolution in order to withstand these sectors.

How to choose the best bending machine for your needs

Factors to consider when selecting a metal bending machine

When choosing a metal bending machine, keep in mind the most important factors listed below:

The Kind of Material and Its Thickness  

• Make sure that the machine will work with the specific materials and thicknesses that you need to work with since this will influence its feasibility and effectiveness.

Precision and Bending Radius  

• Check if the machine can achieve the required bend radius and its accuracy relative to the project requirements.

Volume of Production  

• For low-volume prototypes or high-volume manufacturing, choose the machine that caters to your production needs.

Level of Automation  

• Select between manual, semi-automatic, or fully automatic depending on available labor, speed of production, and desired efficiency in the workflow.

Durability and Maintenance  

• Evaluate the construction quality of the machine and its maintenance procedures, as this will relate to their long term dependability and downtimes.

These factors should enable you to choose the most appropriate metal bending machine that suits your operational needs.

Comparing different brands and models on the market

While considering metal bending machines, pay particular attention to their brand, like Amada, Trumpf, and Durma, which are reputable for quality and performance. Amada stands out due to its high precision and automation capabilities which makes it ideal for large volume runs. Trumpf has a focus on user-friendly interfaces and operational technology which help improve efficiency. Durma provides strong, budget-friendly machines that offer a good balance between performance and cost. Examine the maximum bending force, type, and difficulty of the material and overall assistance to see how well they align with the requirements to make the best choice. Always read official documentation and consumer reviews when making choices.

Why high-quality machines matter

Investing in precision machinery is paramount for achieving optimum accuracy, efficiency, and durability in industrial operations. Advanced technology is available in high precision machinery such as CNC press brakes that can achieve tolerances of +/-0.01mm which helps curtail material waste due to errors. Methacrylic or heavy-duty aluminum alloy machines are also long enduring as they can deal with demanding workloads alongside offering minimal wear and tear or down time.

High-end machines are built with more enhanced automation, resulting in reduced operational time and enhanced productivity. AI-integrated fiber laser cutters serve as a good example, as they can cut thin sheet metals at astonishing speeds of 20 meters per minute. This type of modern technology not only increases business profit but also improves energy efficiency as they use up to 30% less power than previous machines, resulting in lowered operational costs over time.

While initial investment on the premium machines may be high, the long-term operational savings, reduced maintenance costs, and improved quality output makes it an economically wise choice. In addition to high-quality machines offering supirior performance, they also improve competitve production practices in the ever evolving landscape of industry.

What are the different types of pipe-bending machines?

Features of a hydraulic pipe bending machine

Employing a hydraulic pipe bender provides an increased degree of accuracy and efficiency for various industrial operations. Key components include the following.

• High bending Accuracy: Modern machines are outfitted with advanced hydraulic circuitry which provides high precision pipe bends with minimal deformation for consistent and repeatable results.
• Sturdy Construction: Durable materials are used in the manufacturing of hydraulic pipe bending machines enabling them to withstand heavy operation and prolonged use in industrial settings.
• Versatile Bending Capacity: Different diameter pipes between 1/4 inch to 4 inches can be bent, which makes them useful in different cases.
• Adjustable Bending Angles: Settable bending angles ensure flexibility to meet project requirements; precision can be set up to 180 degrees.
• Controlled Operation: Numerous models have simple user-friendly controls and interfaces that can be programmed which increases operational efficiency and reduces chances of manual system error.
• Energy Conservation: Productivity is still maintained at a high level, even if energy usage is significantly reduced. Thus, modern hydraulic systems are designed to decrease energy output.
• Safety Features: Operator safety is enhanced while the machine is in use. Emergency stops and protective guards are added to the system as part of the machine’s safety mechanisms.
• Compact and sophisticated design: As with the majority of hydraulic machines with sophisticated features, many of them have compact size and shap to save workshop space. Tactical design saves space while maintaining functionality.

The following set of features makes hydraulic pipe bending machines invaluable in the construction, automotive and manufacturing industries. They are recognized for their dependability, accuracy, and flexibility in meeting different production requirements.

Advantages of hydraulic pipes over electric rebar benders

• Greater Force Output: When it comes to force application, electric rebar benders are no match for pipe bending machines which are hydraulic. This means that they can more easily work on thicker and stronger materials. For example, rebar benders do not exceed 25 tons of force while electric ones start at 16 tons, but hydraulic versions can exceed 50 tons depending on the design.
• Precision and Accuracy: Hydraulic systems are more proficient in fine-tuning the bending process compared to other systems which allows for greater levels of control accuracy thereby yielding uniform, repeatable results. Achieving this precision is particularly important for highly stringent specification requirements because it minimizes material loss and maximizes quality.
• Versatility: Being tailored made for very specific types of rebar means that rebar benders are not as flexible in terms of use compared to hydraulic benders which can be used to deal with steel, copper, aluminum and alloys. This flexibility enables the utilization of such machines across various industries.
• Durability and Longevity: Unlike electric machines, hydraulic benders are less prone to wear and tear because of their sturdy construction making them more durable. Due to this, they can withstand a longer period of time without requiring maintenance.
• Heavy Load Conditions of Energy Efficiency: Under lighter operations, power consumption for electric rebar benders tends to be lower; however, efficiency is greater with hydraulic machines under heavy workloads. They are capable of doing extensive work without overheating which is an advantage for energy efficiency in demanding projects.
• Safety Features: To improve safety for the operator and protect the machine, hydraulic pipe benders tend to have sophisticated safety systems like overload protection and pressure relief valves. Unlike hydraulic machines, electric rebar benders tend to lack sophisticated protective mechanisms, which pose greater dangers during use.
• Applicable For Non-Standard Bending Angles: Hydraulic machines are suited for a wider range of custom bending angles and radii, which makes them ideal for specialized tasks and projects, as other machines, including electric models, tend to focus on preset predefined bend angles.

Benefits of fully automatic and CNC options

Compared to semi-automatic and manual rebar benders, Fully Automatic and CNC (Computer Numerical Control) rebar benders offer numerous advantages for large-scale and precision-centric projects. Here are some of the advantages:

• Enhanced Precision: The risk of human error for CNC rebar benders is programmed at 2% or less, which guarantees unmatched quality accuracy in all rebar output. Maintaining consistent quality throughout every bend also ensures all project requirements will be satisfactorily met.
• High Productivity: Fully automatic machines and state-of-the-art CNC models increase production speed by a landslide. Several units of rebar are processed at the same time. Some models can also do up to 1,000 bends in under an hour.
• Simple Controls: Automated rebar bender interfaces with touchscreen controllers allow for easy programming of design parameters. Complex processes are elementary after software integration, and minimal training enables design input by the operator.
• Increased Repetition to Efficiency Ratio: Compared to manual machines, automation allows for a drastic decrease in setup and execution time. Tasks such as programming the machine parameters with designs translate to 60% time savings on repetitive projects.
• Reduced Material Waste: CNC machies lower material waste by executing cuts and fabrications to the defined angles like a bend to within a custom-defined tolerance and even reduces rebar scrap. Equiptment using CNC rebar benders result in maintaining up to 15% less material waste.
• Scalability for Large Projects: eFully automatic machines are equipped with the capabilities to store hundreds of configurational setups allowing them to adapt on the fly to specific project needs. This is a huge advantage for infrastructure, commercial as well as industrial projects.
• Integration With Digital Tools: Numerous CNC rebar benders are designed to work with Building Information Modelling (BIM) making them further compatible with contemporary construction processes and streamlining on-site productivity and efficiency across different stages of a project.
• Improved Operator Safety: The automated systems do not require any manual interfacing from the operator during the bending process thus reducing the possible hazard scope the operator is exposed to. Additional safety like emergency stop buttons and protective covers enhances safe use of the equipment.

The aforementioned advantages demonstrate the automatic and CNC solutions capabilities, especially where precision, continuity, and dependability are required. There is an ever-rising adoption across industries that seek an increase in productivity and scalability without sacrificing quality.

How to properly use a bending machine?

Step-by-step guide to operating a sheet metal bender

Using a sheet metal bending machine requires skillful attention to safety protocols, controls, and operating procedures. The following steps will guide the user towards accurate and efficient bending:

Specifications and Limits  

• Always start with the necessary instructions; in this case, it is the bending machine manual. Depending on the machine, it has maximum material thickness (up to 0.5 inches), length (10 feet), and angle of bend (precise to the equipment specifications). Note: a hydraulic press brake may exceed auxiliary equipment’s limitations.

Machine Inspection  

• Prior to starting your day, a safety inspection must be conducted. Ensure all pieces which are controllable, like the die and punch, hydraulic system, and control panel are in working order. Always pay attention to wear or damage, especially under high-pressure regions of the machine.

Pre-bend Workpiece Preparation  

• Mark the lines of bend using appropriate measuring tools like a ruler. Before proceeding with outlining, clean the sheet metal; any loose particles could interfere with the bending process.

Choose the Right Die and Punch

• Select a die and punch set that corresponds with the specified angle of bend and thickness of the material. For instance, a standard right-angle bend is done using a V-die of 90 degrees. Make sure the tools are firmly mounted and aligned.

Set the Machine Parameters

• Enter the required parameters into the control system; these include the bend angle, thickness of material, and length of the bend. In the case of advanced machines with CNC capabilities, these steps can be performed automatically, further increasing precision. Research suggests setup time can be decreased by as much as 50% when CNC devices are used in contrast to manual configurations.

Secure the Workpiece

• Place the workpiece in the machine relative to the bend line. Make use of clamps or stops to fix the part of the material while preserving the desired alignment in the course of bending.

Conduct a Test Bend

• Before starting with the actual workpiece, make a test bend with a scrap piece from the same material. Make any necessary changes to achieve consistency within the required angle.

Initiate the Bending Process 

• Follow the settings established earlier in the machine. In the case of manual or semi-automatic benders, apply constant and uniform pressure to achieve the desired uniform bend. Based on the programmed instructions, fully automatic machines will, however, do the task without human interference.

Monitor and Measure

• After completing the bend, take the sheet metal off and measure the angle using either a protractor or a digital angle finder. Check against the results in the given specifications so that you cross check with the set tolerances, usually within ±0.5 degrees for critical applications.

Completing and Inspecting

• For processes requiring multiple bends, repeat these steps, maintaining alignment for all sequential bends. Conduct a final inspection to determine if the part is within the specified dimensions and meets quality benchmarks.

This is how operators can ensure maximum accuracy, safety, and efficiency alongside a sheet metal bender while following the outlined steps.

Safety precautions with pipe benders

Use Proper Safety Equipment

• Put on safety gloves and glasses to protect your hands and eyes from sharp edges, flying particles, or even inadvertent contact with the pipe bender.

Hold The Pipe Securely

• Secure the pipe in a vise to prevent movement or slip during the bending operation.

Check the Pipe Bender

• Check the pipe bender for any problems such as damage, excessive wear, or equipment malfunction prior to use. There may be safety issues associated with faulty equipment, and the bends might also be uneven.

Observe the Instructions in the Manual

• Do not exceed the manufacturer’s recommendations or specifications; they designed the machine in a particular way to consider overload and misuse.

Do Not Over Clutter

• There should not be anything around the pipe bender area that might cause obstruction. Keeping the area clear may prevent trips while providing unobstructed access to the pipe bender.

In conclusion, these safety considerations while utilizing the pipe benders will ensure effective operation, while also reducing the chances of injury and equipment damage.

Maintaining your reliable bending machines for longevity

To sustain the life of your bending machines, pay attention to the following maintenance techniques:

Routine Cleaning  

• Lift dust, debris, and residue from the machine surfaces and components after each use and clean to avoid buildup.

Lubrication Of Mobile Machine Parts  

• Put the appropriate lubricants on hinges, bearings, and other moving parts according to the manufacturer’s directions.

Monitoring And Checking Worn Out Parts  

• Check regularly for worn out critical parts like bearings, shafts, housing seals for cracks and misalignment. In safe efficient operation immediate replacement of damaged parts is critical.

Proper Storage  

• The machine needs to be placed in a dry and clean environment when not in use to extend its life and guard cover against moisture and corrosive elements.

Adhere To The Fixed Maintenance Schedule Set By The Manufacturer  

• Ensure periodic maintenance checks and servicing are done in accordance with the instructions provided by the manufacturer.

Following these recommended methods will aid in stretching the life and performance of your bending machines.

Frequently asked questions about bending machines

What is the ideal bending angle for different materials?

The preferred bending angle is dictated by the characteristics of the particular material. For softer metals, such as aluminum, a lesser bend (between 90° and 120°) is more crack-resistant. Harder metals like stainless steel usually need greater angle bends (around 130° to 150°) due to their greater strength and lesser ductility. Always refer to the material’s specifications and sample tests to guide your angle selection.

Can acrylic bending machines handle channel letters?

Indeed, acrylic bending machines are extensively utilized in the fabrication of channel letters, specifically in the creation of signs for advertising and retail sectors. These machines can bend acrylic sheets to the required contour for complex shapes and designs needed for channel letters. Clean and accurate bends must be provided by high quality acrylic bending machines which are essential when delicate materials are involved.

The working of an acrylic bending machine is dictated by the method of heating, the accuracy of bending, and the different thicknesses of acrylic that can be applied. For instance, modern models have efficient heating elements like hot wire and strip heaters that result in heating along the entire length of the bend line. Most channel letter applications are best suited by machines that can work with thicknesses of 1/16 inch to 1/4 inch since these dimensions give aesthetic appeal alongside structural strength.

Moreover, some of the latest models offer automation and programmable bending features that reduce manpower and guarantee uniformity in mass production. The ease of use for intricate channel letter designs is elevated by adjustable temperature controls, cooling systems, and pourable ink for acrylic paint. To attain professional results, it is crucial to purchase a machine that matches your precise production scale and project needs.

How to troubleshoot common issues with form machines

Uneven Heating  

• Cause: Heating elements that are broken or out of place.
• Solution: Check and repair all broken components; address misplaced components within the heating system. Make sure all the heating elements are consistently bringing the material to the required temperature.

Imprecise Bends  

• Cause: Setting and deviation errors.
• Solution: Check set parameters for each machine including material thickness and specified angles, then calibrate accordingly. Clean and maintain the machine regularly to eliminate mechanical malfunction possibilities.

Material Cracking or Warping  

• Cause: Too much pressure or heat.
• Solution: Reduce the temperature a little bit and check that consistent pressure is applied throughout the entire bending process. Utilize adjustable bolts and test pieces to set different settings for various material grades.

Machine Jamming or Failure to Operate  

• Cause: Mechanical blockage within the machine and system issues.
• Solution: Check for blockages, stuck parts, debris, and clean up. Reset the system; if problems persist, check the manual for further troubleshooting, or consider contacting the manufacturer.

Slow Cooling Times  

• Cause: Lack of cooling systems or they are poorly designed.
• Solution: Check for malfunction in cooling systems and replace necessary parts. Increase cooling periods by modifying airflow to the cooling system, or add additional cooling devices.

Taking a proactive approach by regularly maintaining and addressing small issues as they arise helps sustain the machines’ accuracy, durability, and cost-effectiveness.

Frequently Asked Questions (FAQs)

Q: What is a press brake, and how does it function?

A: Press brakes are categorized as one of the types of bending machines and they are mainly used for bending metalsheets also referred to as plates. The procedure is performed by clamping the workpiece i.e. the metal that has to be bent between a punch and die and applying pressure to make accurate bends. The importance of a press brake in metalworking cannot be underestimated and is often used for different thicknesses and types of materials.

Q: What do you mean by universal bending, and which machines assist you with it?

A: To bend a material in more than one direction and angle is referred to as universal bending. CNC bending machines, Robot benders as well as multi axis bending machines can be used for universal bending. These multi-purpose devices are capable of executing complicated bends with several axes of motion, without any undue strain or exceeding the elastic threshold of the material, on diverse materials including metal, plastic, and composites.

Q: What does an acrylic heat bending machine do, and how does it function?

A: An acrylic heat bending machine uses a heated apparatus to bend acrylic diacrylate sheets by softening them. Such a machine would consist mainly of a heating unit or an element and a surface on which bending would take place. The process has also proved effective in other forms of thermoplastics, such as polyvinyl chloride, also known as PVC.

Q: What are the different types of tube bending machines available?

A: The types of bending tubes machines are: rotary draw benders, roll benders, and mandrel benders. Each one has its own specialties in application based on the size of the tube. Some machines are manually operated while others are CNC controlled for complex and repetitive bending. Whatever the process, it depends on the material, the diameter of the tube, and the angle of the backbone bend.

Q: What should I consider when choosing a manual bending machine?

A: While choosing a manual bending machine, consider the thickness of the material you will be working on and its type, the maximum bending capacity, ease of operation, and the accuracy of the bends. It is also advisable to search for machines with adjustable dies and gauges. For small operations or workshops, manual machines are more economical.

Q: What makes plate bending machines differ from other bending machines?

A: Just like any other machine, bending machines also have certain characteristics that define them. Unlike press brakes, which create angular bends, plate bends create smooth, curved bends using three to four rollers, unlike other types of bending machines. Plate rolls are a type of bending machine that is used to turn flat pieces of metal into cylinders or cones. They are mainly used in the industry for large metal cylinders or tanks.

Q: Why would you use a CNC-controlled bending machine?

A: When it comes to precision, repeatability, and efficiency, CNC bending machines surpass the rest. Unlike other machines, these machines store other bending programs which enable them to execute complex or repetitive jobs without using too much time. Programmed control allows for intricate bending patterns along with a wider selection of materials and thicknesses.

Q: In what ways bending tools used for jewelry making are different from industrial bending machines?

A: As opposed to industrial bending machines, jewelry tools are used manually and are focused on creating more intricate designs as opposed to high-volume production like industrial tools. Jewelry-making bending tools include ring benders, wire jigs, and bracelet mandrels. These tools are smaller and more precise and are designed specifically for delicate materials and metals in the industry.

Q: What are some maintenance practices that need to be done on bending machines to enhance their lifespan?

A: From a maintenance perspective, the machine requires consistent monitoring as it extends the machine’s overall life. The machine also requires routine cleaning, lubricating all moving parts, checking hydraulic fluid levels (for hydraulic machines), inspecting, and replacing worn dies or punches. Exceeding the set parameters provided by the manufacturer would also undermine its longevity alongside proper maintenance, accuracy can be achieved, efficiency and longevity can be guaranteed.

Reference Sources

1. Metal Wire Manipulation Planning for 3D Curving – A Low Payload Robot that Uses a Bending Machine to Bend High-Stiffness Wire

• Authors: Ruishuang Liu, Weiwei Wan, E. Isomura, K. Harada
• Published In: IEEE/RJS International Conference on Intelligent Robots and Systems
• Publication Date: October 23, 2022
• Citation Token: (Liu et al., 2022, pp. 8927–8932)
• Summary of Key Findings:
• The study describes an integrated task and motion planning system for controlling the operation of a robot arm with a bending machine to automate the curvilinear 3D wire bending processes.
• The research utilizes an assumption of a collaborative robot which may be used in proximity of human operators is designed with a restricted payload suggesting low power, making the use of materials suitable for machine bending ergonomic.
• The algorithm’s framework for execution is defined by the 3D curve outline consisting of start and endpoints within a task enclosure, bounds and motion limits defined for positional and temporal activity execution while optimizing torque levels on the set frame.
• All tests showed successful flexibility and robustness of the system and performed appropriate robotic movements in relation with the bending machine.
• Methodologies:
• The research utilizes a hybrid approach bringing together a task and motion planner, which combines the strategies of dividing tasks into subtasks and defining how those subtasks will be performed.
• The methodology contains two main components: translating geometric representations of desired wire shapes into action sequences for both the robot and the bending machine while observing the constraints of the robot’s capabilities and the material properties.

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