The lightweight metal alloy Ti-6Al-4V is widely used in the aeronautical industry due to its excellent mechanical properties. However, it is known the difficulty to deform Ti-6Al-4V sheets at room temperature because of its microstructure conditions. The present work focuses on the evaluation of formability of Ti-6Al-4V sheets using hot single point incremental forming (SPIF) process which it seems appropriate to produce small batches of parts due to its flexibility as it allows a significant reduction of costs and lead times. In order to characterize the SPIF of Ti-6Al-4V under hot forming conditions, a set of forming trials evaluation tests was carried out. The obtained results have allowed identifying the key process features and have demonstrated the potential of the proposed approach to hot form of small amounts of Ti-6Al-4V parts.

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This paper presents a state machine-based architecture, which enhances the flexibility and reusability of industrial robots, more concretely dual-arm multisensor robots. The proposed architecture, in addition to allowing absolute control of the execution, eases the programming of new applications by increasing the reusability of the developed modules. Through an easy-to-use graphical user interface, operators are able to create, modify, reuse and maintain industrial processes, increasing the flexibility of the cell. Moreover, the proposed approach is applied in a real use case in order to demonstrate its capabilities and feasibility in industrial environments. A comparative analysis is presented for evaluating the presented approach versus traditional robot programming techniques.