As a new type of fully automatic tube processing technology

the digital bending forming technology is based on the current popular industrial robot platform and combined with the bending end device to realize the continuous forming of complex bending components. In this paper

according to the forming principle of digital bending technology

the parsing algorithm of forming process trajectory and motion of the tube bending robot was established

and a matching bending end device was designed and built

so that the bending robot can realize the digital bending process of tube. The method of combining finite element simulation and experiment is used to study the stress changes of the tube during the robot bending process

discuss the feeding function provided by the robot motion

and analyze the effect of this function on the forming quality of the bent tube. The results show that the built tube bending robot platform and the forming trajectory can realize continuous bending of tube. The increase of the maximum stress of bent tube is small. The active feeding of robot can effectively ameliorate the wall thickness reduction of bent tube. However

the active feeding also leads to the accumulation of material on the inner side of bent tube

making it more likely that wrinkle will occur during the experiment. Therefore

in the next research work

it is necessary to focus on the optimization of robot motion

bending speed and other bending parameters to reduce wrinkle defects.