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Research Papers

Interactive Haptic Refinement of a Five-Axis Finishing Cut

[+] Author and Article Information
Kun Chen

Department of Mechanical Engineering, Hong Kong University of Science and Technology, Clear Water Bay, Kowloon, Hong Kong, P.R.C.

Kai Tang1

Department of Mechanical Engineering, Hong Kong University of Science and Technology, Clear Water Bay, Kowloon, Hong Kong, P.R.C.mektang@ust.hk

1

Corresponding author.

J. Comput. Inf. Sci. Eng 8(4), 041001 (Oct 06, 2008) (7 pages) doi:10.1115/1.2987400 History: Received August 14, 2006; Revised December 22, 2007; Published October 06, 2008

This paper describes the design of a haptic system that allows the interactive modification of cutter orientation during five-axis finishing cuts with the aim of improving the surface finish quality and collision avoidance strategies. The system supports two haptic models that provide three degree of freedom (DOF) force feedback and 6DOF posture sensing. Details of five key functions of the system are given: (1) a rendering conversion that uses 3DOF (instead of five) force feedback haptic representation, (2) an efficient force feedback design that allows accurate results to be obtained from the user’s manipulation, (3) a fast collision detection scheme that achieves real-time feedback, (4) use of active haptic guidance to assist cutter-path generation, and (5) a design that supports both ball-end and flat-end tools with partial optimization.

Copyright © 2008 by American Society of Mechanical Engineers
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Figures

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Figure 11

The CC-pass adjustment for flat-end tool

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Figure 12

Screen capture of the manual manipulation

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Figure 13

Selected results of the manual manipulation

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Figure 14

Screen capture of the semiautomatic manipulation

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Figure 15

Selected results of the semiautomatic manipulation

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Figure 1

Haptic system: (a) SensAble PHANTOM® Omni™, and (b) SensAble PHANTOM® Desktop™

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Figure 3

Tool penetration in a point cloud: (a) tool penetrates through the point cloud, (b) denser points prevent tool’s full penetration, and ((c) and (d)) errors due to partial penetration by the tool

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Figure 4

Implicit equations representing the tool shape

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Figure 5

The haptic proxy

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Figure 6

Different surface/plane data in graphic and haptic renderings for a ball-end tool

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Figure 7

Surface/plane data in graphic and haptic renderings for a flat-end tool

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Figure 8

Captured position results: (a) point cloud scheme and (b) haptic constraints scheme

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Figure 9

Tool orientation adjustment

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Figure 10

Cusp height η and path-interval ω for ball-end tool

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Figure 2

Flowchart: multithread in the system

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