Interactive Haptic Refinement of a Five-Axis Finishing Cut

2008 ◽  
Vol 8 (4) ◽  
Author(s):  
Kun Chen ◽  
Kai Tang
Keyword(s):  
Collision Detection ◽  
Force Feedback ◽  
Haptic Guidance ◽  
Detection Scheme ◽  
Cutter Path ◽  
Cutter Orientation ◽  
Three Degree Of Freedom ◽  
Five Axis ◽  
Cutter Path Generation ◽  
Fast Collision

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.

Haptic Wrists: An Alternative Design Strategy Based on User Perception

2009 ◽  
Vol 9 (1) ◽  
Author(s):  
Javier Martín ◽  
Joan Savall ◽  
Iñaki Díaz ◽  
Josune Hernantes ◽  
Diego Borro
Keyword(s):  
Collision Detection ◽  
Design Problem ◽  
Force Feedback ◽  
Mechanical Design ◽  
Design Strategy ◽  
User Perception ◽  
Satisfactory Solution ◽  
Alternative Design ◽  
Three Degree Of Freedom ◽  
Mechanical Design Problem

A new three degree-of-freedom (3DOF) torque feedback wrist is being developed to be added to an existing 3DOF force feedback haptic device. It is difficult to find a satisfactory solution to the mechanical design problem, mainly because of the required large rotational workspace and severe weight constraints. This work proposes an alternative design strategy based on user perception, which allows simplification of the mechanics. The proposed approach consists of substituting the last rotational DOF of the wrist with a pseudohaptic DOF. Thanks to specially designed visuotactile cues, the pseudohaptic DOF is integrated with the active DOF into the same device, being able to generate free motion and collision detection perception to the user. This approach provides for simpler kinematics, lightweight designs, lower inertias, and less friction, which are key advantages for the inclusion of torque feedback into force feedback devices.

scholarly journals A Magnetorheological Fluids-Based Robot-Assisted Catheter/Guidewire Surgery System for Endovascular Catheterization

Micromachines ◽  
2021 ◽  
Vol 12 (6) ◽  
pp. 640
Author(s):  
Linshuai Zhang ◽  
Shuoxin Gu ◽  
Shuxiang Guo ◽  
Takashi Tamiya
Keyword(s):  
Collision Detection ◽  
Endovascular Procedures ◽  
Force Feedback ◽  
Force Measurement ◽  
Occupational Hazards ◽  
Robot Assisted ◽  
X Ray ◽  
Surgical Safety ◽  
Surgical Tool ◽  
Haptic Cues

A teleoperated robotic catheter operating system is a solution to avoid occupational hazards caused by repeated exposure radiation of the surgeon to X-ray during the endovascular procedures. However, inadequate force feedback and collision detection while teleoperating surgical tools elevate the risk of endovascular procedures. Moreover, surgeons cannot control the force of the catheter/guidewire within a proper range, and thus the risk of blood vessel damage will increase. In this paper, a magnetorheological fluid (MR)-based robot-assisted catheter/guidewire surgery system has been developed, which uses the surgeon’s natural manipulation skills acquired through experience and uses haptic cues to generate collision detection to ensure surgical safety. We present tests for the performance evaluation regarding the teleoperation, the force measurement, and the collision detection with haptic cues. Results show that the system can track the desired position of the surgical tool and detect the relevant force event at the catheter. In addition, this method can more readily enable surgeons to distinguish whether the proximal force exceeds or meets the safety threshold of blood vessels.

Collision-Free Tool Path Generation for Five-Axis High Speed Machining

2011 ◽  
Vol 474-476 ◽  
pp. 961-966 ◽  
Author(s):  
Li Qiang Zhang ◽  
Min Yue
Keyword(s):  
Image Analysis ◽  
Collision Detection ◽  
High Speed ◽  
Tool Path ◽  
Geometric Model ◽  
High Speed Machining ◽  
Analysis Method ◽  
Geometric Information ◽  
Detection Approach ◽  
Five Axis

Collision detection is a critical problem in five-axis high speed machining. Using a combination of process simulation and collision detection based on image analysis, a rapid detection approach is developed. The geometric model provides the cut geometry for the collision detection and records a dynamic geometric information for in-process workpiece. For the precise collision detection, a strategy of image analysis method is developed in order to make the approach efficient and maintian a high detection precision. An example of five-axis machining propeller is studied to demonstrate the proposed approach. It has shown that the collision detection task can be achieved with a near real-time performance.

Automatic Planning for 5-Axis Sculptured Surface Machining

1994 ◽  
Author(s):  
Yuan-Shin Lee ◽  
Tien-Chien Chang
Keyword(s):  
Sculptured Surface ◽  
Sculptured Surfaces ◽  
Design Modification ◽  
Surface Machining ◽  
Sculptured Surface Machining ◽  
Cutter Path ◽  
Automatic Planning ◽  
Five Axis ◽  
Five Axes ◽  
Complete Operation

Abstract In modern product design, sculptured surfaces are commonly used for functional and artistic shape design. Design of sculptured surfaces is evolutionary, consisting primarily of incremental changes to existing part surfaces. Manual operation planning for sculptured surface machining is known to be error-prone and inefficient, which requires considerable checking, verification, and rework. Five-axis machining has higher productivity and better machining quality than 3-axis machining. However, the programming for 5-axis machining is more difficult due to the complex simultaneous cutter movements along the machine’s five axes. This paper presents a systematic methodology to generate operation plans for 5-axis sculptured surface machining. A complete operation plan and the error-free cutter path can be automatically generated from the CAD part design. To achieve design for manufacturing of sculptured surface products, the machining unfeasibility information can be fed back to the designer for further design modification. Results of computer implementation and testing examples are also presented.

Fast collision detection methods for joint surfaces

2009 ◽  
Vol 42 (2) ◽  
pp. 91-99 ◽  
Author(s):  
Ehsan Arbabi ◽  
Ronan Boulic ◽  
Daniel Thalmann
Keyword(s):  
Collision Detection ◽  
Detection Methods ◽  
Joint Surfaces ◽  
Fast Collision
Sign in / Sign up

Export Citation Format

Share Document