RoboCut: Hot-wire Cutting with Robot-controlled Flexible Rods
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Date
2020-07-08
Publication Type
Journal Article
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Abstract
© 2020 ACM. Hot-wire cutting is a subtractive fabrication technique used to carve foam and similar materials. Conventional machines rely on straight wires and are thus limited to creating piecewise ruled surfaces. In this work, we propose a method that exploits a dual-arm robot setup to actively control the shape of a flexible, heated rod as it cuts through the material. While this setting offers great freedom of shape, using it effectively requires concurrent reasoning about three tightly coupled sub-problems: 1) modeling the way in which the shape of the rod and the surface it sweeps are governed by the robot's motions; 2) approximating a target shape through a sequence of surfaces swept by the equilibrium shape of an elastic rod; and 3) generating collision-free motion trajectories that lead the robot to create desired sweeps with the deformable tool. We present a computational framework for robotic hot wire cutting that addresses all three sub-problems in a unified manner. We evaluate our approach on a set of simulated results and physical artefacts generated with our robotic fabrication system.
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published
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Journal / series
Volume
39 (4)
Pages / Article No.
98
Publisher
Association for Computing Machinery
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09620 - Coros, Stelian / Coros, Stelian
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication