Monday 27 February 2012

Re(Calibrator) Phase11

Previously, I have presented the 3 axis CNC Router, that I used to  fabricate the piece of the geometry and now I would like to  look into the  CNC machining in more detail. Below is an example of a 3 axis CNC router with 15 HP HSK 63 Spindle and 24" Z Axis Travel and Clearance. http://www.5axiscncrouter.com/3axisCNCrouter.html

3 axis CNC router
CNC is the automation of machine tools, that are operated by computer programmed commands, using Computer Aided  Design CAD and Computer Aided Manufacturing  CAM programs. A quarter century ago, the very idea of CAD and CAM being linked was far-fetched and provocative to say the least. But today, production of a part is set in motion from a designer's graphic terminal. What CAD and CAM now constitute is one of the greatest technological and economic forces ever seen in industry.  http://www.americanmachinist.com/304/Issue/Article/False/9168/Issue
Parallel to the evolution of personal computers, Personal CNC has its roots in EMC and PC based control, but has evolved to the point where it can replace larger conventional equipment in many instances. http://en.wikipedia.org/wiki/Numerical_control Nowadays the most common programming language for CNC machining is the G-Code, which is more likely to be generated with the aid of a CAM software package.  The CAM software utilizes the dimensions from  a given design by assigning 2D or 3D geometry to the part and allocates a group of machining processes, such as drilling, facing, boring, pocketing, etc. to the geometry in the drawing.  Afterwards, the G-Code is generated(often this is several thousand lines long or more) automatically by the software and is ready to be used in the CNC machine. http://carlsonmfg.com/cnc-g-code-m-code-programming.html
The 3 axis CNC machine is the most basic 3D CNC machine, that performes  movement about the three primary axis X, Y and Z simultaneously, with the Z axis parallel  to the spindle. In the digram below, the Rz stands for the  rotation of the tool within the spindle.  http://www.engineersedge.com/manufacturing/three-axis-cnc-machining.htm

the 3 axis of the CNC router
On a 3 axis CNC machine, an object can be modified in space left and right, top to bottom, and forward and back. This kind of manufacturing is suitable for only relatively simple cavity  and boss fabrications, but when we have a more complex geometry, such as the one below, more  degrees of freedom are required.
complex geometry that can not be cut on 3 axis machine
The more axes on a CNC machine translates into a more complex piece of equipment. For example the axis CNC machining equipment has the advantage of the extra two axes aside from the x, y, and z planes. The extra axes may be a circular axis, a diagonal axis, etc. which are commonly called the Q and the B axis. The Q axis is normally associated with the rotation of the product whilst the B axis is associated with the tilting of the product. This is the nomenclature that is used in many 5 axis machines but it can always vary from machine to machine.  http://www.cncmachiningcompanies.net/147/what-is-5-axis-cnc-machining/#more-147   Below is an example of a custom 5 axis milling, where the A rotary table sits vertically on the mill table and the Spindle pivots on the B-Axis which is attatched to the Z-Axis.

5 axis diagram
Of course in this scenario, there will always be the one plane (which is the surface attached to the machine) that will remain untreated. http://www.cnc-toolkit.com/cnc_5axisMill.htm

5 axis milling
At this point I will be stepping into the realm of robotics and will be looking at two of the biggest manufacturers of Industrial Robots, the American Fanuc http://www.fanucrobotics.com/  and German Kuka http://www.kuka-ag.de/en . Both companies specialize in robot-supported automation of industrial manufacturing processess. Below is a 7 axis Kuka robot  working  on a sculpture.

Kuka robotic arm sculpting a complex form
And here is a Fanuc Model M-710iC milling a female sculpture.

Fanuc robot sculpting
The high quality of detail is astonishing and it leaves the viewer speechless somehow.
Below images show the different stages of machining the Beethoven bust with a Kuka robot. http://www.roboticmachining.com

Kuka robot starting to sculpt a bust of Beethoven
The sculpting in progress
The robot putting the finishing touches
These industrial robot arms are based on a model of a human arm and they posses base, shoulder, elbow  and wrist rotations. An extremely sophisticated computer generated software controls these movements, and a complex G code is required. The more basic version of these models is the simplest 6 axis robotic arm.
6 axis robot arm
The 6 axis indicates that this robot has six degrees of freedom, which is very limited compared to the human arm that has forty two degrees of freedom (page 30, Fundamentals of industrial robots and robotics). However the latest models of Kuka and Fanuc are almost as versatile as the human arm and can work with unrivalled precision and accuracy, without getting tired or bored.
Computation, Robotics and craftsmanship will hopefully collide in one great effort to produce glass in certain new discipline.



Re(Calibrator) Phase10 Part3

When I started searching for companies, that combine the use of 3D CNC router to fabricate innovative shapes and forms, I came across an architectural  workshop Objectile, based  in Paris. http://www.archilab.org/public/1999/artistes/obje01en.htm#  Objectile combines engineering, maths and  technology to manufacture curves and variable forms. They use their own in house software called topCAD and then feed the information to numerical-controlled machines.
Here are some examples of their work, that have not been designed, but rather calculated by computer and industrially produced by digital machinery.

CNC panel fabricated by Objectile
The founders of Objectile, Bernard Cache and Patrick Beauce are convienced that architectural creation now starts at the stage of software and technological tools.
An object showing the machine  tracks
In those examples above, we can see that Objectile has developed a process, that treats the external surface of the shapes, by  giving then a unique machined facades. Perhaps they have not gone beyond the manipulations of the  shell,  to investigate  even larger impact of the software - hardware corelation in architectural structure.
Another good example of using  the digital  milling technique is this cabinet  designed by Skylar Tibbits.
http://sjet.wordpress.com/2009/03/03/path-responsive-update/

Digital milling by S. Tibbits
Here, much of the decision making was done by the machine, and the individual curvatures were calculated by the softwear. Below is a path responsive suface  milling, which  has been manufactured in such a  way, that  each point along any isocurve is assigned  with a  distinc z depth. http://sjet.wordpress.com/2008/07/08/path-responsive-surface-milling_02/
Path responsive  surface milling by Tibbits
These are of  course secondary components  and play merely a decorative role,  yet,  these units are illustrating a  technical feasability,  that opens doors  for further exploitations.

Friday 17 February 2012

Re(Calibrator) Phase10 Part2

Now that I have one trial mould, I designated a studio area at home to start experimenting with different materials.
my home studio
Some observations about the materials to be used for moulding and glass casting, will help me narrow down the search.
Polystyrene
Polystyrene or the blue foam is an extremely lightweight; however it is also easily damaged and is very porous, which makes it less useful when high level of detail is required. It is compatible with 3D CNC Router Pacer, easily cut with handheld hacksaw and otherwise manipulated with various tools. The material is easily deformed when heat is applied, it does not have a melting point but burns instead, when the temperature reaches over 200 degrees Celsius. It is completely odourless and relatively cheap to obtain as a raw material. A sufficient amount of detail is achieved for smooth casting with silicon, wax, resin etc. My verdict was that I could not use this directly with glass, but rather create a negative for moulds.
Type B modelling wax (natural)
Type B natural wax is a dense, odourless material with medium softness. It responses instantly to heat source, including the body warmth, making it ideal for hand sculpting and shaping. It melts gradually and feels very “alive” with a distinct character. This particular wax can be melted and reused many times as it carries the mould impressions very accurately and has an almost instant hardening time, when the temperature is cool enough. It is relatively inexpensive,  considering the life span of the material, however the heat factor is prohibiting when it comes to slumping glass or even acrylics.

Lightweight modelling clay
Fimo air-  light professional modelling clay is incredibly lightweight, with 24 hour or less air drying time, depending on the complexity of the piece. It is odourless and easily manipulated by hands or other tools. When wet, it is non-sticky and when dried, it is non-reusable as  one would expect from a standard clay. A piece crafted with fimo air does not have a high temperature tolerance. It is overall a very flexible and consistent material and has from moderate to high impression detailing. The colour is slightly off white. It in unlikely that this can be used for slumping or casting, but it is a great aid for the cast making process.

RTV T30 Silicon rubber
RTV T30 Silicon Rubber is the ideal substance for almost any kind of casting and moulding purposes. It is of a medium weight and viscosity (depends on the type of silicon, the higher the number, the more durable and strong is the outcome) . This particular type is used with a solvent, and can be used with thousands of different materials, since it is non-sticky and has a wonderfully high level of detail impression. 
pouring the silicon into M80 block machined with the router
The hardening time may vary, it can take from 6 hour up to several days, or in some cases, when the liquid has not been mixed well enough, it may produce what I call a “half boiled” egg effect.

silicon cast out of the mould
It is an extremely flexible and durable material, and is resistant to high temperatures. The silicon positive mould was used for vacuum forming and it retained its qualities after the procedure. The mould making process is fairly straightforward and the only inhibitory factor is perhaps the cost; it is too expensive to be simply used as a waste mould.

Standard filler
Tetrion filler is simply one of the standard fillers used in construction. It is relatively heavy and does trap air bubbles after drying. The filler is easy to apply due to its hard cream like quality, and the air drying time is about 6 hours, depending on the depth and the positioning of the material. It proved to be durable to high temperatures. The surface of the dry filler piece is easily cracked and damaged where there is a weak point. It is odourless and has an off white colour. It does not have a sufficient level of details, so perhaps this could be a huge disadvantage for intricate models.  

Plaster
Lafarge plaster (prestia classic)is one of the best known materials in casting and mould making world, perhaps due to its “value for money” factor. It is of moderate weight and density and not very difficult to prepare. The tricky part, however, is to determine the right setting time to work with, as later this will characterise the success of the end piece. The impressions captured by plaster are of high quality, however even after full drying, the piece remains rather  fragile. In order to use this for glass moulds, it will be necessary to mix it with silica.

Fire cement
Sika fire cement  is indeed a very heavy weight alternative and perhaps  the air drying  is not a sufficient  option, a firing is needed, which  makes  this  substance time consuming to a certain extent. It is relatively soft and simple to shape, it is odourless and takes high temperatures very well. It has a warm grey colour and a very smooth, glossy finish  can be achieved. When making a big scale model, the weight can become a worrying issue.

Liquid colour resin
Pebeo colour resin is a precious material to work with  and the outcome is a beautiful surface that is amazingly light weight. The packaging warns that  this  is an extremely dangerous product for the environment, which instantly  makes one think twice before committing to a bigger project, even though it has no  smell or other external indication  of harmfulness.  When  poured, it traps millions of air bubbles, which make the structure weak perhaps plenty of air holes are needed. It responses to high temperatures and softens, might even melt, which suggest a possibility of reusing it. I was considering this as an equivalent to glass, but it is the wrong material perhaps for many reasons, like the cost and the artificial chemical consistency, the fact that it is not as translucent or reflective as glass.

3mm transparent acrylic 
There is a wide variety  of these products available, in all kinds of thicknesses and sizes, and  this along with the relatively  reasonable price,  make perspex so popular. It is lightweight, compared to  glass and has  a much  lower melting point than glass,  in fact it  can be manipulated by a heat gun (about 700 degree Celsius) . However, when heated, it produces unpleasant  fumes  and after cooling, a small number of air  bubbles appear on the surface, perhaps a gradual annealing might solve this. It has a high gloss even surface and is an attractive alternative to glass. This could potentially be used for slumping.

Polyester resin
Clear casting polyester resin is a relatively straightforward material to deal with, comes as a liquid with a hardener. The extremely prohibitive factor is the smell, which is very strong and toxic, if working in badly ventilated area.
Polyester resin drying in a chamber
It is quite a heavy and dense product. It is prone to trapping air bubbles and needs to be poured into a cavity with utmost care and attention.It is not suitable for use with foam materials, as it eats through the foam, which perhaps could be preventing by securely varnishing the surface before pouring the resin.

The dried polyester resin
When drying is complete, the resin looks really beautiful and has nice tactile feel to it, with beautiful reflections and translucency clear and magnificent like that of a glass. Unfortunately the dangerous smell of this resin makes it almost impossible for fabricating a big sculptural piece.

glass wax
Glass wax looks like a mineral and does not react to body heat like the natural wax. However it responds well to a heat gun and melts easily producing paraffin like smell.

melting glass wax with heat gun
On the other hand, when a blow torch is applied, it simply burns, while still melting.

Handheld torch applied to a glass wax
 It its original  form, it is has a frosted looking surface with sharp edges,but after melting it becomes clear and glossy and indeed does look like a glass. Despite this, it is still more of a wax than a glass, therefore it breaks easily and has very low durability in general.
Addition cure 13
 Addition Cure 13 is very similar to Silicon and comes in two parts A and B , which are mixed in equal volumes. It creates translucent human skin colour like soft but durable piece and has a high level of detail.
Addition cure mould for silicon casting
 It works really well with silicon as I was anticipating and is incredibly easy and pleasant to use. But, again, the cost is the major prohibitive factor for architectural applications. 

Polyurethane blocks
Sike produces a wide range of polyurethane blocks, which are the "Holy Grail" for CNC fabrication on 3 2, 3 and 5 axis milling machines and routers. Generally the series start with more lightweight materials like M80, then with higher the number, the surface gets harder and the piece gets more dense harder, for example M1260 is four times the weight and the density of the M80 and is extremely resilient.

The surface f M80 is fragile and easily damaged; it constantly covered in its own dust. The M80 works really well with the 3D router and makes a higher quality finish than polystyrene. Due to its soft structure, it is easily cut with other handheld tools. 
This exercise was targeted to test as many materials as possible and also to investigate into  the relationships of different substances.  Each material with its characteristics allows certain operation while in  the same  time hinders others. It is also interesting to compare those results with the digital materials generated with the help of the computer, of course the latter happens only with a click of a mouse.
Next I will  be experimenting with glass and "refractory" moulds, which are the so called waste moulds for warm glass  (p120 Helga Watkins-Baker, "Kiln Forming Glass", 2010).


Re(Calibrator) Phase10

Two possible methods to produce the desired geometry in glass remained slumping and casting.
Both require kiln or furnace and a pre fabricated shapes or mould to work with.
With the slumping, it is essentially quite simple, all that is required is a shape to slump the glass on it. In this case, the mould is made of either firing clay or plaster with silica mixture or any other suitable fireproof material.
a glass placed on top of the mould before firing
In this case a simple window glass is used and it is cut to size of the sculptural clay mould (page 224, The Complete Book of Creative Glass Art). The piece is then fired in a kiln to an appropriate temperature.
fired glass takes the shape of the mould
Here the edges of the end product are deformed in unpredictable pattern, or at least in this example it is difficult to say where the glass would go, so it is a slightly improvised technique.
Alternatively, we can bend the glass into the mould, which gives us more control over the end geometry. (page 54, Techniques of kiln-formed glass)
Bending glass into mould
Or in some cases, it is beneficial to bend the glass over the mould.
Bending glass over the mould

Most other techniques are more or less similar to those ones.
And another option is casting, which is really an ancient technique that has first been used by Egyptians. The molten solid glass, or frit, or any other crushed glass is heated and as it solidifies, it takes the shape of the mould.
Casting by crushed glass and topping up during firing
There are millions of ways of making a cast glass, in the example above, a crushed glass is filled in the reservoir and more of it is added during the firing. This gives an opportunity for creating unprecedented combinations if desired, but more care must be taken in return. (page 82, Techniques of kiln-formed glass)   
All these techniques have one thing in common, the necessity of having an initial moulds to work with. To be able to manufacturing these moulds, it was time to start  experimenting with real materials and fabricate some full size mould pieces. As a test, I started with a fraction of the geometry, by cropping the piece in 3Ds Max.
Cutting the mould piece in 3Ds Max
I wanted to produce this mould with the help of the three dimensional 3 axis CNC(computer numerical control) router. The router uses a software of its own, called MasterCAM. This program allows to create a G Code for the Pacer 3D router, which is a universal language for CNC programming and is widely used in the industry.  MasterCAM is a complex and sophisticated piece of software that also enables so called cutting simulations to take place, so that the chosen cutter can be tested and monitored. 
Milling simulation in MasterCAM
MasterCAM is a significant software in its direct relation with CNC milling machine. The setup is not extremely complex, but it requires  a thorough understanding of the process, of how the Router works. I started by preparing my tools and adjusting the parameters and running few simulations on screen, to check  the approximate surfaces achieved.
Cutting simulation completed
There are number of different cutting combination and vast amount of cutters, with which I experimented quite a lot.

Library of straight cutter
And each cutter in its turn, has various parameters to be altered and adjusted in accordance to the particular material stock and depth of the cutting.
Cutter Parameters
Apart from choosing the right cutter,it is important to set up the most time effective cutting method for first roughing and then finishing. Same cutting can take much longer if more complex technique is selected, for example in the same simulation for the same cavity a radial cutting  mode is almost 10 times slower than the parallel cutting (the image of the first simulation), although the result is a slightly smoother surface with the radial cutting.

Radial cutting simulation (takes 10 times more time)

Once the setup is complete, the MasterCam produces the G Code, for the Pacer. This code is then  transfered to another software which works directly with  the Router and  in the  image below we can see this  relationship.

Pacer router performing the milling action
On this above image, what we see on the screen is the setup and positioning of the extruded polystyrene (or most commonly referred as blue foam stock on the machine bed. Below is the close up of what is on the computer screen.
The material representation on the cutting bed
Now  that the code has been implemented and the  job has been uploaded, the cutters have been all set up, the router starts cutting. The big bed of the machine is vacuumed, to secure those materials on the bed safely and the extractor  is working  with the cutters.

The milling of the polystyrene
As programmed, the pacer performs the first rouging, afterwards it carefully places down the first cutter and picks up the second, in this case finishing tool, and resumes the work. On the image below, we can see the rough cut area being reworked with a smaller cutter for finishing on M80 Sika block. 

Router performing the finishing with the smaller ball cutter
Consequently, depending on the cutters and cutting techniques, a wide range of outcomes can be achieved.

different cutter and techniques

1. 12mm straight cutter roughing with 6mm staight cutter roughing again with 45 degree angel.
2. 6mm ball cutter  finishing at 90 degree  angel.
3. 6mm straight cutter used for finishing at 0 degree angel.
4. 6mm ball cutter tested at 45 degree angel.

The radial roughing or finishing has not been shown here,since it  was proven to  be unnecessarliy time consuming and perhaps only suitable for rear cases,when the other  methods fail.
After generating these moulds I am ready to go into experimenting  with  various materials.
The 3D router experience is indeed very valuable, in terms of understanding  how the  computer works with  a code,  very similar to how we humans read a book.
When observing  the  machine  work on a delicate piece of geometry  with the smallest of the cutter, I felt a certain admiration and wonder. It is incredible how this big  mechanism of  several tons,works in such a subtle manner, almost like a jeweller. This had a prrofound  effect on me and I found  myself more and more often  drawn to  this machine, experimenting and observing its work.
Until now, the idea  of a code  was an alien concept to me, however,I started studying the G code, very curious to "understand" the machine. The endless pages of numbers and letters started to speak  to me, I found out that when the machine reads G31, it knows that now its time to skip a function, and most importantly I realised that I am the one who told the machine to skip the function in  the first place. In his "The pattern on the stone" William Daniel Hillis, the great American  inventor  describes "I etch a pattern of geometric shapes onto a stone. To the uninitiated, the shapes look mysterious and complex, but I  know that when arranged correctly they will give the stone  a special power, enabling it to respond to incantations in a language no human being has ever spoken." (preface, The Pattern on the stone: The simple ideas that make computers work, 1998). This is a magnificent description of a computer  programming and human-machine "conversation".