Modelangelo: a subtractive 5-axis robotic arm for rapid prototyping

Abstract

A PC-based, CAD-driven, 5-axis rapid prototyping (RP) robotic system that uses subtractive technology is presented. ModelAngelo, as it is called, consists of six integrated hardware and software subsystems. The system utilizes a virtual 3D CAD model to produce a set of commands used to control a 5-axis robotic setup to move the cutting tool, the tip of which is a heated wire, into a workpiece block (polystyrene foam or wax) to form complex-shaped objects. The user provides a 3D CAD model of the object to be sculpted. ModelAngelo Software generates layered contoured slices at predetermined incremental steps. It builds up a data file that contains the corresponding cutting tool radial, angular, elevation and rotational positions of the modeled work. Then ModelAngelo PortMessenger feeds the computer parallel port with consecutive commands that are read by ModelAngelo Controller. Consequently, ModelAngelo ReadNFeed performs the commands and sends feedback signals to the processor. The actuators then place the tool tip and the workpiece in their respective cutting positions via ModelAngelo Mechanisms, which puts the model and the tip tool in the cutting position, where ModelAngelo TipTool cutting-by-heat role starts.