Picture of person typing on laptop with programming code visible on the laptop screen

World class computing and information science research at Strathclyde...

The Strathprints institutional repository is a digital archive of University of Strathclyde's Open Access research outputs. Strathprints provides access to thousands of Open Access research papers by University of Strathclyde researchers, including by researchers from the Department of Computer & Information Sciences involved in mathematically structured programming, similarity and metric search, computer security, software systems, combinatronics and digital health.

The Department also includes the iSchool Research Group, which performs leading research into socio-technical phenomena and topics such as information retrieval and information seeking behaviour.

Explore

Introducing a novel mesh following technique for approximation-free robotic tool path trajectories

Mineo, Carmelo and Pierce, Stephen Gareth and Nicholson, Pascual Ian and Cooper, Ian (2017) Introducing a novel mesh following technique for approximation-free robotic tool path trajectories. Journal of Computational Design and Engineering. ISSN 2288-4300 (In Press)

[img]
Preview
Text (Mineo-etal-JCDE2017-Novel-mesh-following-technique-for-approximation-free-robotic-tool-path-trajectories)
Mineo_etal_JCDE2017_Novel_mesh_following_technique_for_approximation_free_robotic_tool_path_trajectories.pdf - Accepted Author Manuscript
License: Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 logo

Download (1MB) | Preview

Abstract

Modern tools for designing and manufacturing of large components with complex geometries allow more flexible production with reduced cycle times. This is achieved through a combination of traditional subtractive approaches and new additive manufacturing processes. The problem of generating optimum tool-paths to perform specific actions (e.g. part manufacturing or inspection) on curved surface samples, through numerical control machinery or robotic manipulators, will be increasingly encountered. Part variability often precludes using original design CAD data directly for toolpath generation (especially for composite materials), instead surface mapping software is often used to generate tessellated models. However, such models differ from precise analytical models and are often not suitable to be used in current commercially available path-planning software, since they require formats where the geometrical entities are mathematically represented thus introducing approximation errors which propagate into the generated toolpath. This work adopts a fundamentally different approach to such surface mapping and presents a novel Mesh Following Technique (MFT) for the generation of tool-paths directly from tessellated models. The technique does not introduce any approximation and allows smoother and more accurate surface following tool-paths to be generated. The background mathematics to the new MFT algorithm are introduced and the algorithm is validated by testing through an application example. Comparative metrology experiments were undertaken to assess the tracking performance of the MFT algorithms, compared to tool-paths generated through commercial software. It is shown that the MFT tool-paths produced 40% smaller errors and up to 66% lower dispersion around the mean values.