Tool Motion Control Referring    to Voxel   Information of Removal Volume Voxel Model to Achieve Autonomous Milling Operation

Tomokazu Kobayashi; Toshihiko Hirooka; Atsushi Hakotani; Ryuta Sato; Keiichi Shirase

doi:10.20965/ijat.2014.p0792

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IJAT Vol.8 No.6 pp. 792-800

doi: 10.20965/ijat.2014.p0792

(2014)

Paper:

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Tool Motion Control Referring to Voxel Information of Removal Volume Voxel Model to Achieve Autonomous Milling Operation

Tomokazu Kobayashi^, Toshihiko Hirooka^, Atsushi Hakotani^,
Ryuta Sato^, and Keiichi Shirase^

^*Nissan Motor Co., Ltd., 1-1 Morinosatoaoyama, Atsugi 243-0123, Japan

^**Graduate School of Engineering, Kobe University, 1-1 Rokko-dai, Nada, Kobe 657-8501, Japan

^***Kawasaki Heavy Industries, Ltd., 1-1 Kawasaki-cho, Akashi 673-8666, Japan

Received:

May 30, 2014

Accepted:

August 28, 2014

Published:

November 5, 2014

Keywords:

digital copy milling (DCM), voxel model, removal volume, tool motion control, diffusion equation

Abstract

In order to achieve flexible and autonomous milling operation, a system called Digital Copy Milling (DCM) was developed in our previous studies. Additionally, tool motion control, in which the voxel information of the removal volume voxel model is referred to, is performed in DCM. In this study, a feed speed control function and tool posture control function are integrated with the DCM by referring to the feed speed and tool posture parameters stored in the voxel properties of the removal volume voxel model. It is assumed that these parameters change gradually as a diffusion phenomenon to automatically determine the voxel properties using a diffusion equation. In order to calculate the diffusion equation, the voxel in the removal volume corresponds to a calculation grid of the diffusion equation and not just to the storage of the feed speed and tool posture parameters. For experimental verification, the feed speed and tool posture parameters were automatically determined, and the tool motion was successfully controlled independent of the tool path generation to perform the milling operation.

Cite this article as:

T. Kobayashi, T. Hirooka, A. Hakotani, R. Sato, and K. Shirase, “Tool Motion Control Referring to Voxel Information of Removal Volume Voxel Model to Achieve Autonomous Milling Operation,” Int. J. Automation Technol., Vol.8 No.6, pp. 792-800, 2014.

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References

[1] T. Moriwaki, “Intelligent machine Tool,” J. of JSME, Vol.96, No.901, pp. 1010-1014, 1993. (in Japanese)
[2] K. Shirase, T. Kondo, M. Okamoto, H. Wakamatsu, and E. Arai, “Development of Virtual Copy Milling System to Realize NC Programless Machining (1st Report),” Trans. of JSME(C), Vol.66, No.644, pp. 1368-1373, 2000. (in Japanese)
[3] K. Nakamoto, K. Shirase, H. Wakamatsu, A. Tsumaya, and E. Arai, “Development of Virtual Copy Milling System to Realize NC Programless Machining (2nd Report),” Trans. of JSME(C), Vol.67, No.663, pp. 3656-3661, 2001. (in Japanese)
[4] K. Nakamoto, K. Shirase, H.Wakamatsu, A. Tsumaya, and E. Arai, “Development of Virtual Copy Milling System to Realize NC Programless Machining (3rd Report),” Trans. of JSME(C), Vol.69, No.677, pp. 270-277, 2003. (in Japanese)
[5] K. Shirase, T. Shimada, and K. Nakamoto, “Prototyping of Autonomous CNC Machine Tool Based on Digital Copy Milling Concept,” Proc. of the 41^st CIRP Conf. on Manufacturing Systems, pp. 391-394, 2008.
[6] K. Morishige, K Kase, and Y. Takeuchi, “Tool Path Generation Using C-Space for 5-Axis Control Machining,” J. of JSPE, Vol.62, No.12, pp. 1783-1787, 1996. (in Japanese)
[7] H. Wkayama and K. Morishige, “Optimum Tool Path Generation for 5-Axis Control Machining Considering Tool Attitude Change,” J. of JSPE, Vol.71, No.5, pp. 639-643, 2005. (in Japanese)
[8] J. Kaneko and K. Horio, “Fast Determination Method of Tool Posture for 5-Axis Control Machining Using Graphics Hardware : Estimation of machinable posture on 2D C-Space based on intersection between offset surface and lines of view,” J. of JSPE, Vol.72, No.8, pp. 1012-1017, 2006. (in Japanese)
[9] M. Yamada, F. Tanaka, T. Kondo, and T. Kishinami, “Sculpture Surface Machining by Automatically Indexing Tilted Tool Axis on 5-axis Machine Tools (3rd report),” J. of JSPE, Vol.73, No.5, pp. 563-567, 2007. (in Japanese)

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] T. Moriwaki, “Intelligent machine Tool,” J. of JSME, Vol.96, No.901, pp. 1010-1014, 1993. (in Japanese)

[2] [2] K. Shirase, T. Kondo, M. Okamoto, H. Wakamatsu, and E. Arai, “Development of Virtual Copy Milling System to Realize NC Programless Machining (1st Report),” Trans. of JSME(C), Vol.66, No.644, pp. 1368-1373, 2000. (in Japanese)

[3] [3] K. Nakamoto, K. Shirase, H. Wakamatsu, A. Tsumaya, and E. Arai, “Development of Virtual Copy Milling System to Realize NC Programless Machining (2nd Report),” Trans. of JSME(C), Vol.67, No.663, pp. 3656-3661, 2001. (in Japanese)

[4] [4] K. Nakamoto, K. Shirase, H.Wakamatsu, A. Tsumaya, and E. Arai, “Development of Virtual Copy Milling System to Realize NC Programless Machining (3rd Report),” Trans. of JSME(C), Vol.69, No.677, pp. 270-277, 2003. (in Japanese)

[5] [5] K. Shirase, T. Shimada, and K. Nakamoto, “Prototyping of Autonomous CNC Machine Tool Based on Digital Copy Milling Concept,” Proc. of the 41^st CIRP Conf. on Manufacturing Systems, pp. 391-394, 2008.

[6] [6] K. Morishige, K Kase, and Y. Takeuchi, “Tool Path Generation Using C-Space for 5-Axis Control Machining,” J. of JSPE, Vol.62, No.12, pp. 1783-1787, 1996. (in Japanese)

[7] [7] H. Wkayama and K. Morishige, “Optimum Tool Path Generation for 5-Axis Control Machining Considering Tool Attitude Change,” J. of JSPE, Vol.71, No.5, pp. 639-643, 2005. (in Japanese)

[8] [8] J. Kaneko and K. Horio, “Fast Determination Method of Tool Posture for 5-Axis Control Machining Using Graphics Hardware : Estimation of machinable posture on 2D C-Space based on intersection between offset surface and lines of view,” J. of JSPE, Vol.72, No.8, pp. 1012-1017, 2006. (in Japanese)

[9] [9] M. Yamada, F. Tanaka, T. Kondo, and T. Kishinami, “Sculpture Surface Machining by Automatically Indexing Tilted Tool Axis on 5-axis Machine Tools (3rd report),” J. of JSPE, Vol.73, No.5, pp. 563-567, 2007. (in Japanese)

Tool Motion Control Referring to Voxel Information of Removal Volume Voxel Model to Achieve Autonomous Milling Operation

Tomokazu Kobayashi*, Toshihiko Hirooka**, Atsushi Hakotani***, Ryuta Sato**, and Keiichi Shirase**

Tomokazu Kobayashi^, Toshihiko Hirooka^, Atsushi Hakotani^,
Ryuta Sato^, and Keiichi Shirase^