By Michael Binnard

At first look, a ebook on "Design by way of Composition for speedy Prototyping" could seem misplaced in a chain on Robotics. despite the fact that, this paintings has a number of powerful connections to the sector of robotics and the robotics group, and i'm extremely joyful to introduce it to the sequence. the 1st connection is the incentive at the back of Binnard's paintings. Michael Binnard got here to Stanford after having performed his Masters thesis on the M.LT. synthetic Intelligence Lab, the place he designed and equipped small jogging robots, reminiscent of Boadicea (http://www.ai.mit.eduJprojects/boadicea/).At M.LT. he saw first-hand how tough it's to align, attach and help common actuators, sensors, and processors in small cellular robots. determine lea) under indicates how complex it is only to attach an easy motor to 1 hyperlink of a robotic leg utilizing traditional equipment. definitely there needed to be a greater method! form deposition production, an rising swift prototyping procedure, provided a potential answer. Actuators, sensors, processors and different parts will be embedded without delay into virtually arbitrary third-dimensional shapes, with none of the fasteners and couplings that complicate the layout in determine lea). the method makes it attainable to build built-in robot mechanisms, akin to the instance proven in determine 1 (b) and the extra examples present in Chapters 7 and eight of this monograph.

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The Compact Merging Algorithm 41 'VbEB /I PART 1: loop through all /I A and B compacts. V'aEA if matl(a)=EMBED /\ matl(b)=EMBED error: EMBED components intersecting. /I EMBED's can't intersect if (matl(a);t:EMBED /\ matl(b);t:EMBED) v (matl(a);t:EMBED /\ matl(b)=EMBED /\ oper=SUBTRACT) new(c E C) = a n b matl(c) = j(matl(a), matl(b), oper) a=a-c b =b-c if matl(a)=EMBED /\ matl(b);t:EMBED /I embedded compacts in A b =b-(anb) /I embedded compacts in B if matl(a);t:EMBED /\ matl(b)=EMBED a =a- (a n b) if (oper = ADD) v (oper = XOR) C=CuAuB if oper = SUBTRACT C=CuA if oper = INTERSECT if :3a[aEA /\ matl(a)=EMBED] 'Va[aEA /\ matl(a);t:EMBED] matl(a)=SUPPORT C=CuA if :3b[bEB /\ matl(b)=EMBED] 'Vb[b E B /\ matl(b);t:EMBEDl matl(b)=SUPPORT C=CuB /I PART 2: copy non-intersecting /I compacts /I make sure embedded compacts /I and support get copied.

3 Design by Composition The current design by composition plug-in (described in Chapter 7 and the Appendix) lets designers work in the standard AutoCAD environment. Primitives are manipulated by familiar AutoCAD commands. The plug-in Design and Planningfor Rapid Prototyping 19 provides new commands for creating cylindrical and rectangular (box) primitives and combining them with Boolean operations. The user interface for these commands is similar to that for normal AutoCAD solids. Figure 14 shows the compacts produced by the design by composition system for the part in Figure l2(a).

1. The Compact Merging Algorithm Subtract Add a AuB b c P P P S S P P P P S S S 39 A-B a b c Exclusive or b c P P P S S S S S P S S S P S S S S P a AnB P P P P S Intersect S (A+B)-(AnB) a b P P P c S S S S P P P S S Figure 32. Truth tables for compact set merging operations The tables shown specify the material type (part, P, or support, S) for a compact, c, which is formed by the intersection of two source compacts, a andb. 2 Non-intersecting compacts When two compact sets are combined, portions of some of the compacts in A or B may not intersect any compact in the other set.

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