_ _ ____ _________ _______ _____ ______ | | | |/ __ \__ __\ \ / /_ _| __ \| ____| | |__| | | | | | | \ \ /\ / / | | | |__) | |__ | __ | | | | | | \ \/ \/ / | | | _ /| __| | | | | |__| | | | \ /\ / _| |_| | \ \| |____ |_| |_|\____/ |_| \/ \/ |_____|_| \_\______|
Hotwire is a CAM-Tool used for tool path generation for 6-axis industrial robots. The intended use is foam cutting tapered wing profiles using a hot wire cutter. Hotwire_GUI.py is used for generating tool paths which can then be previewed using the Hotwire_Blender_GUI. For installation and usage of Hotwire_Blender_GUI go to ./Hotwire_Blender_GUI/HWBG_README.md. This readme is for Hotwire_GUI.py only.
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Tested using Python 3.8.5
Requires following modules:
-NumPy
-ScyPy
-TKinter
-Matplotlib
-PIL (pillow)
Hotwire requires two CSV files as input which can be downloaded and generated at http://www.airfoiltools.com/ . The profile length must be set using airfoiltools. The input files must not have a pre-determined angle of attack! (Segmentation algorithm will likely fail to connect properly if one or both files have pre-determined aoas.)
Hotwire outputs two files (or 4 if mirror is checked):
-1- A CSV file containing the toolpath information. The toolpath is structured as follows:
(n = amnt of segments)
n-lines of TCP movement: TCPX; TCPY; TCPZ; RotnX; RotnY; RotnZ
followed by n-lines of segment 1/2 pairs: Sgmnt1X; Sgmnt1Y; Sgmnt1Z; Sgmnt2X; Sgmnt2Y; Sgmnt2Z;
The latter n-lines are only used for visualization purposes in Blender-GUI and not needed for the actual robot code generation.
-2- A CSV file containing the robot code (robot language RSV).
Robot code position syntax: Base X,Y,Z,A,B,C,A1,A2,A3,A4,A5,A6
-1- Click the folder icons and set both paths
-2- Choose your Segmenting Parameters. Make sure the small/large profile len is set properly according to the actual profile length of the input file
-3- Click "Run Segmenter". Check the 2D plot for errors. The blue line indicates the interpolated contour. The red line indicates the calculated toolpath. Also check the 3D plot(s)
-4- Choose a name for your output folder
-5- Click Save CSV. The toolpath is now saved and can be viewed with Blender-GUI
-6- Find the physical TCP zero point (using the IRL robot) and set it using the "Set TCP XYZ Zero in mm" input field.
-7- Click "Generate RoboCode". All files are saved in ./Output_Files/[folder name]
-8- Transmit the output SRC file to your robot and compile it.\
Segmentation algorithm: Segments both profiles into an equal number of segments and proceeds to connect each segment-pair by a vector. The resulting vector array is then transformed into a TCP movement. A more detailed explanation can be inquired from the docstring of the hotwire() function in /src/functional_hotwire.py
Segmenting parameters: The segmenting algorithm can be programmed using 11 parameters:
| Parameter | Description |
|---|---|
| Wingspan | Distance[mm] between the two profiles |
| Sweep | Distance[mm] leading-edge to leading-edge |
| Dihedral | Height[mm] sprofile relative to lprofile |
| Twist | Twist angle (angle between both chords) |
| Tooldiameter | Wire + melting thickness (toolpath will be offset radially to account for material melt away) |
| Dihedral Angle | Performs x-axis rotation on toolpath (doesn't actually affect dihedral, must be set by "Dihedral") |
| Small profile len | Length of input profile |
| Large profile len | Length of input profile |
| Nmb of segments | Number of segments created by segmenter |
| Retract path len | Adds retraction path to trailing edge to avoid having the hot wire resting in material |
| Mirror | Mirrors profile and toolpath (will generate 4 files instead of 2) |