中文摘要：

介绍了采用机器人对车门板进行辊压包边的生产工艺。基于有限元方法对辊压包边过程中板料的变形抗力进行了计算，对辊轮三种可能的压入方式（竖直、水平、环向）进行仿真分析，得出了在不同压入方式下包边机器人末端所受的最大环境约束力，同时在万能材料试验机上进行了相应试验。计算和试验结果表明，竖直压入方式辊轮所受环境力峰值最大，环向压入方式环境力峰值最小。

英文摘要：

This paper presented the technical process of the robot roll hemming which was used for the manufacture of auto door panels. In three possible pressing manners the finite element simula- tions were processed. The different pressing manner led to different external force conditions of the hemming roller. The maximum peak value of external force occurs in vertical manner simulation and the minimum one in circumferential manner simulation. Related experiments were carried out on a u- niversal material testing machine. The experimental results verify these ones obtained in simulation. This provides a criterion to select the appropriate technical movements. The research achievement lays a foundation for the development of the robot roll hemming system, the compliant mechanism design and the forming technical analysis of the roll hemming.