中文摘要：

为了提高机械手数控肋骨冷弯机自动加工的精度，针对其进料误差进行了数据统计和分析，同时分析了进料误差产生的原因和对肋骨成形精度的影响．在进料误差不可避免的情况下，提出了实时计算加工控制参数——弯曲角度的方法，并将采用该方法实时计算的结果与原来的弯曲角度进行了比较．采用该计算方法控制实际的肋骨弯曲加工，也取得了满意的加工精度．

英文摘要：

In order to improve the processing precision of hull frame automatically processed by CNC frame cold-bending machine, the feeding errors has been collected and analyzed, and also the causes of feeding errors and its influences to forming precision were analyzed. Because the feeding errors are in- evitable, the real-time calculating method for the bending angles was put forward. The result with this method was compared with the original bending angles. Satisfied processing precision also was obtained in the actual frame process controlled with this method.