中文摘要：

专用弯管机设计的关键在于如何依据弯曲管子布局弯管机组成部件，然而现有布局方法难以处理弯管机设计工程知识约束。笔者提出了面向工程知识约束的专用弯管机三维布局方法。由弯曲管子最终形状（预期的弯曲形状）确定管子姿态，并基于管子静态和动态布局目标约束集，逐步进行弯管机上设备布局，同时满足工程知识约束。此方法很好地满足了生产过程中布局的静态和动态不干涉的要求。最后给出应用实例验证该布局方法的有效性。

英文摘要：

The key technique for special pipe benders is how to place their components. However, the design knowledge of special pipe benders cannot be incorporated into the current 3D-layout algorithms. An engineering knowledge constraints oriented 3-D layout design scheme for special pipe benders is presented in this paper. Its main steps includes the defining of the pose of the pipe to be bended and sequential components static and dynamic layout without intersection. Finally, an experimental example is demonstrated and it shows that the proposed scheme is feasible and effective.