第二步：提出一种干涉碰撞检测算法。在折弯加工过程中，建立机床坐标系及工

Step two: <br>propose a collision detection algorithm interference. In the bending process, to establish the coordinate system and the machine coordinate system each keypoint bent workpiece. By the positional relationship between the plurality of coordinate systems, the position of the bending key to obtain at the machine coordinate system. Compared with the size of the machine and the workpiece, it is determined whether or not interference would occur at this time. The algorithm ensures that during the bending, the workpiece itself do not collide, the workpiece upper and lower molds do not collide with the workpiece and the machine do not collide. Arrangement for the subsequent step to prepare optimization algorithm.

Step 2:<br>An interference collision detection algorithm is proposed. In the process of bending, the coordinate system of machine tool and the key point of each bend of the workpiece are established. The position of bend keypoints under the machine coordinate system is obtained through the position relationship between multiple coordinate systems. Compare with the workpiece and machine size to determine if interference occurs at this time. The algorithm ensures that in the bending process, the workpiece itself does not collide, the workpiece does not collide with the upper and lower molds, and the workpiece does not collide with the machine tool. Prepare for the optimization algorithm for subsequent operations.

The second step:<br>An interference collision detection algorithm is proposed. In the process of bending, the machine coordinate system and the coordinate system of each key point of bending are established. Through the position relationship among several coordinate systems, the position of bending key points in the machine coordinate system is obtained. Compare with the dimensions of workpiece and machine tool to determine whether there will be interference at this time. The algorithm ensures that the workpiece itself does not collide, the workpiece does not collide with the upper and lower dies, and the workpiece does not collide with the machine tool. Prepare for the following process layout optimization algorithm.