AADRL_Machining the Generative by Begüm Aydınoğlu

MACHININGTHEGENERATIVE INSTRUCTING MACHINES

WORKSHOP BRIEF To instruct a machine

TUTORS Shajay Bhooshan Alicia Nahmad Vishu Bhooshan David Reeves

CONTENTS WORKFLOW GENERATIVE _ Forces & Vectors _ Grid Systems _ Keypress _Digital Output

PRODUCTION

STUDENT TEAM Pallavi Kumar Chi-Yen Fu Begum Aydinoglu Juan Carlos Naranjo

_ Optimization _ Layer System _Physical Output

ANALYSIS _ Joint Angle Analysis _ Inference

APPENDIX _ Three Target Catalogue _ Code Snippet _Nine Target Catalogue

WORKFLOW

GENERATIVE

PRODUCTION

ANALYSIS

INSTRUCTING THE COMPUTER WRITING CODE ON C++

INSTRUCTING THE ROBOT EXPORTING CODE TO PHYSICAL PRODUCTION

OPTIMIZATION OF OUTPUT/ PRODUCTION

WORKFLOW GENERATIVE

Code on C++

Conversion to G-code

Check if all points can be printed robotically

PRODUCTION

Optimization of output

Callibration of tool (pen/ marker)

Robotic generation of output

ANALYSIS

Analyse efficiency of joint rotation in space

Optimization

THE GENERATIVE INSTRUCTING THE COMPUTER

PARTICLE TO PARTICLE FORCES

PARTICLE TO TARGET FORCES

PARTICLE TO PARTICLE FORCES

PARTICLE TO TARGET FORCES

Collision Radius

Target Strength

Collision Radius

Target Strength

PARTICLE TO PARTICLE FORCES

PARTICLE TO TARGET FORCES

Collision Radius

Target Strength r

Collision Strength

Collision Strength Collision Strength

Spin Force

Spin Force Spin Force

VECTORS_BASICS orıgın ıtıon

pos tor vec

point B tor

vec

posıtıon 2

posıtıon 2 r

ecto

ty v

cı velo

vertıcal step

point A

posıtıon 1

horızontal step

posıtıon 2 = velocity applied to posıtıon 1

VECTORS_CALCULATIONS 10 3

5 B = (3 , 8 )

A = (7 , 5)

+ A LOCATION = LOCATION + VELOCITY

8 C = (10 , 13 )

= B X = X + XSPEED Y = Y + YSPEED

C CX = AX + BX CY = AY + BY

mytargets[0].charge *= -1;

keyPress

mytargets[0].charge *= -1; dragStrength = 0.8;

mytargets[0].charge *= -1;

keyPress

PARTICLE BEHAVIOR

dragStrength = 1.5;

mytargets[0].charge *= -1;

mytargets[0].tarPos = targetO1; mytargets[1].tarPos = targetO2; mytargets[2].tarPos = targetO3;

mytargets[0].tarPos = (targetL1); mytargets[1].tarPos = (targetL2); mytargets[2].tarPos = (targetL3);

mytargets[0].tarPos = (targetR1); mytargets[1].tarPos = (targetR2); mytargets[2].tarPos = (targetR3);

TARGET POSITIONING

keyPress

dragStrength = 1.5;

keyPress

KEYPRESS_TYPES

GRID & TARGET SYSTEM

3 TARGET GRID

9 TARGET GRID

GRID & KEYPRESS

initialParticles 40 MaxTarget 3

// initialise points/particles for (int i = 0; i < MaxParticles; i++) { pos[i] = vec(ofRandom(0, 100), ofRandom(0, 100), 0); }

Press: RUN

keyPress: t mytargets[0].charge *= -1

// initialise targets target = vec(ofRandom(0, 100), ofRandom(0, 100), 0);

KEYPRESS SEQUENCE

t/t 1000 3.00 0.05 0.00 1.50 0.10 1.50 0.00 0.00 0.00

sequence particle count targets timeStep gravityStrength targetStrength spinStrength dragStrength collisionStrength collisionRadius magnetStrength

3 TARGET_CATALOGUE

RUN_3TAR_40PAR CcC

RUN_3TAR_40PAR crC

RUN_3TAR_40PAR cCr

RUN_3TAR_40PAR CRc

RUN_3TAR_40PAR rcC

RUN_3TAR_40PAR rCc

9 TARGET_CATALOGUE

GRID & TARGET SYSTEM

KEYPRESS_SEQUENCE

9 target system_final output t/t 1000 3.00 0.05 0.00 1.50 0.10 1.50 0.00 0.00 0.00

sequence particle count targets timeStep gravityStrength targetStrength spinStrength dragStrength collisionStrength collisionRadius magnetStrength

NACHITO THE ROBOT DRAWING IN LAYERS

nine point grid system

KEYPRESS_SEQUENCE

initialParticles 40 MaxTarget 3 vec targetO1(44.85, 0, 0); vec targetO2(44.85, 10.5, 0); vec targetO3(44.85, -10.5, 0); vec targetL1(34.95, 0, 0); vec targetL2(39.9, 5.25, 0); vec targetL3(39.9, -5.25, 0); vec targetR1(54.75, 0, 0); vec targetR2(49.8, 5.25, 0); vec targetR3(49.8, -5.25, 0); for (int i = 0; i < MaxTargets; i++) {

initialParticles 40 MaxTarget 3

Press: RUN, r

keyPress: c

mytargets[0].charge *= -1; collisonStrength = 0; collisonRadius = 0; dragStrength = 3;

mytargets[0].charge *= -1; collisonStrength = 2; collisonRadius = 0.4;

mytargets[0].tarPos = (targetO1); mytargets[1].tarPos = (targetO2); mytargets[2].tarPos = (targetO3);

}

3 LAYERS

LAYER I

LAYER II

LAYER III

LAYER 1 t/t 1000 3.00 0.05 0.00 1.50 0.10 1.50 0.00 0.00 0.00

sequence particle count targets timeStep gravityStrength targetStrength spinStrength dragStrength collisionStrength collisionRadius magnetStrength

nine point grid system t/t 1000 3.00 0.05 0.00 1.50 0.10 1.50 0.00 0.00 0.00

sequence particle count targets timeStep gravityStrength targetStrength spinStrength dragStrength collisionStrength collisionRadius magnetStrength

KEYPRESS_SEQUENCE t/t 1000 3.00 0.05 0.00 1.50 0.10 1.50 0.00 0.00 0.00

sequence particle count targets timeStep gravityStrength targetStrength spinStrength dragStrength collisionStrength collisionRadius magnetStrength

nine point grid system t/t 1000 3.00 0.05 0.00 1.50 0.10 1.50 0.00 0.00 0.00

sequence particle count targets timeStep gravityStrength targetStrength spinStrength dragStrength collisionStrength collisionRadius magnetStrength

JOINT ANGLES & END EFFECTOR

nachi mzo7_joint angles J3 ±190° J3 Helps moving in the Z axis

J4 -136° ~ 270°

J5 ±120°

J2 -135° ~ 80° J5 Helps moving in the Z axis

J6 ±360° J1 ±170°

Since a layer system is employed, the end effector is a simple pen holder, which is required to move the maximum in the Z axis

31 NACHI MZ07 - JOINT ANGLES

FORWARD KINEMATICS

INVERSE KINEMATICS

FORWARD & INVERSE KINEMATICS

FORWARD KINEMATICS

JOINT ANGLE

END EFFECTOR POSITION

INVERSE KINEMATICS

FORWARD KINEMATICS VS INVERSE KINEMATICS

θ3

θ2

θ4 θ6

θ5 J6

End-effector

θ1

End-effector Target (x,y,z)

Target (x,y,z)

FORWARD KINEMATICS

INVERSE KINEMATICS

end-effector development

Fixed onto J6 Locking System

Custom End-effector Tool Centre Point (TCP)

Pen Holder

Pen Pen

layer division

LAYER III

LAYER II

LAYER I

PRINTING IN LAYERS

physical output_final

LAYER III

LAYER II

LAYER I

physical output_final

production analysis movement of axis through time

OUPUT_INITIAL TESTS

Layer division 1000 lines 8 minutes approx.

Layer 1 14 text files 1 hour 52 min

Layer 2 16 text files 2 hours 8 min

Layer 3 10 text files 1 hour 20 min 40

PRODUCTION ANALYSIS LAYER 1 // FILE 3

LAYER 3 // FILE 9

LAYER 2 // FILE 5

CLOSEST POINT TRAIL PATH

OBSERVATIONS_INITIAL TESTS

Marker on transparent medium

Marker on opaque medium

TESTING

1st robotic output test

- of different surface materials - of different tool medium (pens, markers, etc) - of overlapping of materials and exploring the â&#x20AC;&#x2DC;layer systemâ&#x20AC;&#x2122; - of transparency

Overlaying of all output layers

FURTHER ANALYSIS CONSTRAINTS - Speed: 40% vs. markerâ&#x20AC;&#x2122;s pressure for ink - Text File Separation - Maximum of 1000 lines of code - Movement of the table for exact overlapping. - Excess number of particles in the digital vs. physical world - File order for quality printing (drying, movement, etc) - Pressure applired to the tool can cause damage during the printing process.

APPENDIX ADDITIONAL REASEARCH INFORMATION

3 TARGET keypress t/t 1000 3.00 0.05 0.00 1.50 0.10 1.50 0.00 0.00 0.00

sequence particle count targets timeStep gravityStrength targetStrength spinStrength dragStrength collisionStrength collisionRadius magnetStrength

3 target KEYPRESS t/t 1000 3.00 0.05 0.00 1.50 0.10 1.50 0.00 0.00 0.00

sequence particle count targets timeStep gravityStrength targetStrength spinStrength dragStrength collisionStrength collisionRadius magnetStrength

3 TARGET keypress t/t 1000 3.00 0.05 0.00 1.50 0.10 1.50 0.00 0.00 0.00

sequence particle count targets timeStep gravityStrength targetStrength spinStrength dragStrength collisionStrength collisionRadius magnetStrength

3 target keypress t/t 1000 3.00 0.05 0.00 1.50 0.10 1.50 0.00 0.00 0.00

sequence particle count targets timeStep gravityStrength targetStrength spinStrength dragStrength collisionStrength collisionRadius magnetStrength

3 TARGET keypress t/t 1000 3.00 0.05 0.00 1.50 0.10 1.50 0.00 0.00 0.00

sequence particle count targets timeStep gravityStrength targetStrength spinStrength dragStrength collisionStrength collisionRadius magnetStrength

3 target keypress t/t 1000 3.00 0.05 0.00 1.50 0.10 1.50 0.00 0.00 0.00

sequence particle count targets timeStep gravityStrength targetStrength spinStrength dragStrength collisionStrength collisionRadius magnetStrength

c++ code

mytargets[0].charge *= -1;

keyPress

mytargets[0].charge *= -1; dragStrength = 0.8;

mytargets[0].charge *= -1;

keyPress

PARTICLE BEHAVIOR

dragStrength = 1.5;

mytargets[0].tarPos = targetO1; mytargets[1].tarPos = targetO2; mytargets[2].tarPos = targetO3;

mytargets[0].tarPos = (targetL1); mytargets[1].tarPos = (targetL2); mytargets[2].tarPos = (targetL3);

TARGET POSITIONING

keyPress

dragStrength = 1.5;

keyPress

KEYPRESS_TYPES

mytargets[0].tarPos = (targetR1); mytargets[1].tarPos = (targetR2); mytargets[2].tarPos = (targetR3);

mytargets[0].charge *= -1;

c++ code

9 TARGET keypress t/t 1000 3.00 0.05 0.00 1.50 0.10 1.50 0.00 0.00 0.00

sequence particle count targets timeStep gravityStrength targetStrength spinStrength dragStrength collisionStrength collisionRadius magnetStrength

9 target keypress t/t 1000 3.00 0.05 0.00 1.50 0.10 1.50 0.00 0.00 0.00