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Design by Composition for Layered Manufacturing. Mark R. Cutkosky Stanford Center for Design Research. http://cdr.stanford.edu/interface. Outline. Layered manufacturing processes: commercial (additive) vs SDM (addition, removal, insertion) Design decomposition vs design by composition - PowerPoint PPT Presentation
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C D R Design by Composition for Layered Manufacturing
Mark R. Cutkosky
Stanford Center for Design Research
http://cdr.stanford.edu/interface
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C D ROutline
• Layered manufacturing processes: commercial (additive) vs SDM (addition, removal, insertion)
• Design decomposition vs design by composition• Design by composition -- implementation• Application example: biomimetic robotic
mechanisms• Summary & status
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Layered Manufacturing: commercial example
Laser UV curableliquid elevator
Formedobject
Photolithography processschematic Sample prototype (ME310
power mirror for UT Auto)
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Layered manufacturing processes
Commercial• Photolithography
• Fused deposition
• Laser sintering
• Laminated paper
Research• Selective laser sintering
(UT Austin)
• 3D printing (MIT)
• Shape deposition manufacturing (CMU/Stanford)
“Look and feel” prototypeComplex 3D shapesdirect from CAD model
Engineering materials (metals,ceramics, strong polymers)Graded materialsEmbedded componentsNot quite direct from CAD model...
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Deposit (part)
Shape
EmbedDeposit (support)
Shape
Part
Embedded Component
Support
Shape Deposition Manufacturing (CMU/SU)
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SDM#1: Injection mold tooling (SU RPL)
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C D RSDM #2: Frogman (CMU)
• Example of polymer component with embedded electronics
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Approaches to design with layered shape
manufacturingUsually people think of taking a finished CAD
model and submitting it for decomposition and
manufacture
Example: the slider-crank mechanism, an “integrated assembly” built by SDM
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9
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Decomposition into ‘compacts” and layers
• Several levels of decomposition are required
CompletePart
Compacts Layers Tool Path
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Definitions: Compact [Merz et al 94]
• 3-D volume with no overhanging features• Rays in growth direction enter only once• Compacts correspond to SDM cycles
Build Axis(c) OK(a) no good (b) OK
x y z z z x y z a z z z1 2 1 2, ,
z1
z2
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Layers produced by automatic decomposer for slider crank mechanism
Gray = steel, brown = copper support material
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Layered shape deposition - potential manufacturing problems
How mechanisms are built After support removal
• finite thickness of support material• poor finish on unmachined
surfaces• warping and internal stresses• decomposition depends on geometry, not on intended function
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C D RDesign by Composition (M. Binnard)
Users build designs by combining primitives with Boolean operations– Primitives have high-level manufacturing plans
– Embed components and shapes as needed
Primitivesmerged by designer
Manufacturing plansmerged by algorithm
Primitive = Compact Set + Precedence Graph
• Set of valid compacts• No intersections• Fills the primitive’s projected
volume
Primitive Compact set Compact precedence graph
• Acyclic directed graph• Link for every non-
vertical adjacency
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Merging Algorithm Example
intersection compacts
non-intersecting compacts
A B
+ =
A B C=A B
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Algorithm: intersection compacts
b1
a1
a2
a3
a1 b1
a2b1
b1
b1
A B
C
• Find every compact intersection• Material type depends on operation, f(a,b)
(etc. )
Adda b cP P PP S PS P PS S S
Subtracta b cP P SP S PS P SS S S
Truth tables for result material
a1
a2
a3
b1 b2
C D R
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CPG Simplification algorithm• Combine compacts of the same material• Multiple solutions• Optimum depends on functional and
manufacturing considerations
4
1
3 2
65
7
1
2
65
7
3+4
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Algorithm closure and efficiency demonstrated for multi-material parts and embedded components (Binnard 99)
• Minimal geometric Boolean operations (incremental merging and simplification)
• Worst-case scaling – Compact set merging: O(n2)– CPG link generation: O(n4)– Simplification: O(n3 )
(In practice, 10-20 merged compacts for moderately complex designs)
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Implementation• AutoCAD R14 plug-in (compacts and projected
volumes on hidden layers)• ACIS toolpath planner (extruded shapes, 3D
surfaces underway)
design bycomposition
toolbar
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C D RDecomposed Features
SFF/SDM VLSIBoxes, Circles, Polygons and Wires
SFF/SDM Design Rules Mead-Conway Design Rules
Wc/ >= 2
Minimum gap/rib thickness
d d
d
(top view)a)
Generalized 3D gap/rib
d
(side view)b)
d
Minimum feature thickness
d(m1,m2,m3)
(side view)e)
m1 m2 m3
d(m1,m2,m3,)
m1 m2 m3
Toward a mechanical MOSIS?
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Future Work: Integration with Decomposition
Bold arrows aretransmission ofcompact graphs
Machine Tools
Path Planning
CNC code
solid model
Orientation
Traditional CAD
Analysis
feedbackComposition CAD
Analysis
Compact Splitting
new primitive
feedback
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Application: Small robots with embedded sensors and actuators
Motor
Leg links
Shaft
Shaft coupling
Body frame Lift pot
Knee pot
Hip pot
Abduct pressuresensor
Lift pressuresensor Extend pressure
sensor
Gears
ActuatorsBuilding small robot legs with pre-fabricated components is difficult…Is there a better way?
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Designer composes the design from library of primitives, including embedded components
Steel leaf spring
Piston
Outlet for valve
Valve Primitive
Circuit Primitive
Inlet port primitive
Part Primitive
Robot leg example(http://cdr.stanford.edu/biomimetics)
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Internal components are modeled in the 3D CAD environment.
Steel leaf-spring
Piston
Sensor and circuit
Spacer
Valves
Components are prepared with spacers, etc. to assure accurate placement.
Robot Leg design (cont’d.)
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The output of the software is a sequence of 3D shapes and toolpaths.
Robot Leg: compacts
Support
Part
Embedded components
Robot leg: manufacturingManufacturing takes place in the Stanford Rapid Prototyping Lab
Part material is Urethane. The support is red and blue wax. Cavities inside valves were first filled with soap.
Deposition
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A snapshot just after valves and pistons were inserted.
Steel leaf-spring
Piston
Sensor and circuit
Valves
Robot Leg: embedded parts
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Finished parts ready for testing
Robot Leg: completed
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Summary & statusNew technology provides novel design opportunities
Designers need access to develop an experience base
Making these processes widely used requires:• Ease of use• Flexibility (e.g, decompose geometry or build
from primitives) • Quick feedback
What are we doing?• Creating a design/manufacturing interface for layered processes• Creating design libraries and design rules
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C D RAcknowledgements
Thanks to M. Binnard, S. Rajagopalan, J. Cham, B. Pruitt and Y. Sun fortheir help in generating the results described in this presentation and to the
Stanford Rapid Prototyping Lab for their help in building the parts.
This work has been supported by theNational Science Foundation (MIP-9617994)
and by the Office of Naval Research (N00014-98-1-0669)