Generation of collision-free 5-axis tool paths using a haptic surface

• Published in: Computer aided design Vol. 34; no. 4; pp. 267 - 279
• Main Authors: Balasubramaniam, Mahadevan, Ho, Stephen, Sarma, Sanjay, Adachi, Yoshitaka
• Format: Journal Article
• Language: English
• Published: Oxford Elsevier Ltd 01.04.2002; Elsevier Science
• Subjects: 5-axis tool path generation; Applied sciences; Collision detection; Collision-free tool paths; Computer aided design; Computer science; control theory; systems; Exact sciences and technology; Haptic system; Mechanical engineering. Machine design; Software; Haptic system; 5-axis tool path generation; Collision-free tool paths; Collision detection; Tactile sensitivity; Five axis machine; Machine tool; Optimal trajectory; Machining; Cutting tool; Collision avoidance; Computer aided design
• ISSN: 0010-4485; 1879-2685
• DOI: 10.1016/S0010-4485(01)00057-4

An intuitive man–machine interface for generating 5-axis tool paths is described in the paper. The system is based on a 5 degree-of-freedom force feedback haptic system, which is used to interface a human with an impenetrable 3D part. In the process of feeling the object, the user ‘teaches’ a milling machine to machine a virtual 3D object. The tool path generation has two phases: recording of access directions at the surface of the object and the post-processing phase. During the recording phase, three functions are carried out simultaneously: first, a fast collision detection algorithm, using hierarchical object representation, to drive the haptic system; second, visual feedback to show the regions that have been accessed by the tool; and third, a system to capture the access directions of the tool as the user touches the object. The post-processing phase involves the use of information generated in the recording phase to generate 5-axis tool paths. First, the access directions at the surface of the part are interpolated; and second, any residual collisions are detected and eliminated. We show the results of the tool path generation for two parts. The system can help an expert user generate, correct and tweak tool paths.