This paper aims to demonstrate the design process of an integrated five-axis Laser-Based Material Deposition (LBMD) system for rapid prototyping application. Several design evaluation methods are selected and applied to the design of the system. A three-dimensional graphical simulation software package was used as a decision making aid and as an analysis tool
in the design process. Hardware integration of a five-axis computer numerical controlled (CNC) vertical milling machine, a 2.5 KW Nd:YAG laser and a linear table is discussed. A brief introduction to the system software and control architecture is also summarized. Some important design issues and considerations specific to Laser Based Material Deposition process are suggested.Mechanical Engineerin

Abdullah, J. Laeng aka Jamaluddin

Liou, Frank

Mohamad Ibrahim, M.N.

Wan Muhammad, W.M.

English

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Design And IntegrationOf A Laser-Based Material Deposition SystemJ. Laeng@Jamaluddin Abdullah*, Frank Liou**, M.N. Mohamad Ibrahim♣ andW.M. Wan Muhammad**School of Mechanical Engineering, Universiti Sains Malaysia -  Engineering Campus, 14300 Nibong Tebal, Seberang Perai, Penang, MALAYSIA♣School of Chemical Sciences, Universiti Sains Malaysia, 11800 Penang, MALAYSIA**Department of Mechanical Engineering, University of Missouri-RollaMO 65409-1350, USAABSTRACTThis paper aims to demonstrate the design process of an integrated five-axis Laser-BasedMaterial Deposition (LBMD) system for rapid prototyping application.  Several designevaluation methods are selected and applied to the design of the system. A three-dimensionalgraphical simulation software package was used as a decision making aid and as an analysis toolin the design process. Hardware integration of a five-axis computer numerical controlled (CNC)vertical milling machine, a 2.5 KW Nd:YAG laser and a linear table is discussed. A briefintroduction to the system software and control architecture is also summarized.  Some importantdesign issues and considerations specific to Laser Based Material Deposition process aresuggested.Keywords: Design methodology, System Design and Integration, System Simulation, LaserBased Material Deposition, Collision Detection, Tool Path Verification1. INTRODUCTIONSince the introduction of the first commercial stereolithography apparatus in 1986, manyrapid prototyping (RP) systems have been developed for the ever growing industrial demands forshorter product development cycle time and at significantly reduced costs [1]. Most of thecommercial RP units at that time however, were  either limited to non-metal fabrication withminimal accuracy and precision or constraint to produce relatively simple parts for physicalvisualization of design concepts. Some of the developing systems were capable of producingdirect metal prototypes. However, the commercial units still require polymer RP molds fromwhich metal castings are formed [2].The increasing complexity of certain parts geometry imposed by many advancedapplications making the production of highly accurate functional model directly from CAD datavery difficult or impossible using the available RP systems. Arising from this, many systemshave been proposed. The LENS (Laser-Engineered Net Shaping) process has demonstrated thefeasibility to produce near net shape metal part [3,4]. Others have tried to utilize the existinglaser cladding technique, an established laser surface coating of metallic parts, to produce metalparts by layer additive approach [2,5].11This paper describes the design and integration process at the early development stage ofa Laser Based Material Deposition process at the University of Missouri-Rolla, USA. A fewdesign evaluation methods, including a graphical simulation software were employed to assist indecision making. The LBMD system consists of a 5-axis CNC machine, Nd:YAG laser and alinear table put together to work as an integrated system.2 DESIGN AND INTEGRATION PROCESSA survey on Laser Based Material Deposition was conducted in order to understand theprocess and other related issues [6]. Three design concepts were proposed as shown in figure 1,figure 2 and figure 3. The first design as shown in figure 1, integrates a 3-axis CNC milling (X,Yand Z), a 2-axis rotary table (tilting about X, rotating about Z) and a single axis linear actuator(slide up and down along Z axis) that carries the laser and powder delivery nozzle. A rigidsupport structure is constructed above and spans across the CNC assembly. The laser powdernozzle is attached to this support bar. This design concept provides a stable and rigid support forlaser and powder assembly and thus minimizes vibration.    Figure 1 : Design Concept I. Figure 2: Design Concept II.In design concept II as shown in Figure 2, a different design concept is proposed. Thelaser and powder delivery nozzle is attached to the CNC machine head assembly besides themachine spindle. This design integrates a 3-axis CNC milling machine, 2-axis rotary table and asingle axis laser and powder nozzle. No support structure as in design I need to be constructed.Initially, this design is thought to be better because it eliminates the support structure for thelaser and powder nozzle and does not require additional motion axis for the system. However,the cost of putting the laser nozzle to the CNC machine head assembly will be significantlylarge. Vibration from the machine spindle during machining process could cause misalignmentof laser optic just next to it. Laser optics are also exposed to contamination from metal chips andalso coolant. Chances of collision between work piece and the machine spindle and also betweenwork piece and laser nozzle increases during rotation or tilting of work piece.In concept Design III as shown in Figure 3, a cantilevered support with retraction andLaser NozzleCNC MachineSpindle Rotary TableLaser NozzleRotary TableCNC MachineSpindle12extension arm, where laser and powder nozzle is attached to, is proposed for the system. Thelaser and powder nozzle can be extended to the work area during metal deposition and they canbe retracted to a safe location during machining process. This feature is hoped to protect the laseroptics from metal chips and contaminants within the vicinity of the work area.  However,accuracy could be jeopardized due to deflection in the cantilever arm and cumulativedisplacement error from the frequent retraction and extension of the cantilever arm.  Also, tohave this feature, two linear actuators are needed and considering the load and moment the beamwill carry, achieving a higher displacement accuracy (0.001”) becomes impossible. With thedesign configuration in concept design III, the total axis of control would be increased to 7. Thisis not desirable because it makes integration and controls of the system more complex.Synchronization and motion control of all the individual components is critical to part quality.Therefore, a simple system, but capable of good motion control is desirable.Figure 3: Design Concept IIITwo methods were used in design evaluation process. The first method utilizes conceptevaluation matrix to compare each design to a selected datum concept. This method providesthree levels of comparison: “better than (+) ”,  “the same as (S) ” or “less/worst than ( - )” thedatum. A set of evaluation criteria was established. Table 1, Table 2 and Table 3 shows theevaluation matrix for each concept. Based on this evaluation, design concept I is the mostfeasible option. The second method uses a scale from 1 to 5 to further evaluate the design. Table4 shows the scores for each design. This method assigns quantitative score to each concept andwe can rank the concept, as well as each criterion from the highest to the lowest score. Thehighest score means the best and the lowest is the least/worst.  From the second evaluationmethod, concept I carries the highest score. Concept design I is finally selected for furtheranalysis. The LBMD system would fabricate parts by combination of material addition (lasermaterial deposition) and material removal (CNC milling to correct deposition errors).Laser NozzleRotary TableCNC MachineSpindleRetracting Arm13  Table 1: Concept Evaluation Matrix Using Conceptual Design I as DATUMConcept          Criteria 1 2 3Positioning accuracy of the system D S _Repeatability of the system A S _Ease of  system operation T + SEase of maintenance of laser and powder U _ SProtection of laser alignment from vibration M _ +Protection of nozzle and laser from _ _Simplicity of Integration D + SSimplicity of Synchronization A + SUser safety from Laser T S SErgonomics (user movement and interaction) U S SMinimum axis of control M + SWorking volume S _Rigidity and stability of nozzle support D + _Overall estimated cost for the system A _ SAdaptability to multi material deposition T _ _Online process control implementation U + _Score M 6+, 5-, 5S 1+, 7-, 8S             Table 2: Concept Evaluation Matrix Using Conceptual Design II as DATUMConceptCriteria 1 2 3Positioning accuracy of the system S D _Repeatability of the system S A _Ease of  system operation _ T _Ease of maintenance of laser and powder + U +Protection of laser alignment from vibration + M +Protection of nozzle and laser from + +Simplicity of Integration _ D _Simplicity of Synchronization _ A _User safety from Laser S T SErgonomics (user movement and interaction) S U SMinimum axis of control _ M _Working volume S SRigidity and stability of nozzle support _ D _Overall estimated cost for the system + A SAdaptability to multi material deposition + T +Online process control implementation S U _Score 5+, 6S, 5- M 4+, 4S, 8-14Table 3: Concept Evaluation Matrix Using Conceptual Design III as DATUMConceptCriteria 1 2 3Positioning accuracy of the system + + DRepeatability of the system + + AEase of  system operation + + TEase of maintenance of laser and powder S _ UProtection of laser alignment from vibration S _ MProtection of nozzle and laser from contaminants S _Simplicity of Integration S + DSimplicity of Synchronization S + AUser safety from Laser S S TErgonomics (user movement and interaction) S S UMinimum axis of control + + MWorking volume S SRigidity and stability of nozzle support structure S + DOverall estimated cost for the system + _ AAdaptability to multi material deposition + _ TOnline process control implementation S + UScore 6+, 10S 8+, 5-, 3S MTable 4: Concept Evaluation Using Quantitative Scale (scale 1 – 5)ConceptCriteria 1 2 3Positioning accuracy of the system 3 5 2Repeatability of the system 3 4 2Ease of  system operation 4 3 3Ease of maintenance of laser and powder 4 2 3Protection of laser alignment from vibration 5 1 4Protection of nozzle and laser from contaminants 5 2 3Simplicity of Integration 4 2 3Simplicity of Synchronization 4 5 3User safety from Laser 3 4 3Ergonomics (user movement and interaction) 3 4 3Minimum axis of control 4 4 2Working volume 4 2 3Rigidity and stability of nozzle support structure 4 3 2Overall estimated cost for the system (least is best) 5 2 4Adaptability to multi material deposition 4 2 3Online process control implementation 4 3 4Score 58 49 4715To further refine the selected design, a three-dimensional graphical simulation softwarewas used to identify the suitable working volume for the system for two different fabricationsituations; (i) simple fabrication with no part rotation and tilting and system is required to dovertical buildup only, (ii) more complex fabrication requiring part rotation and tilting and thesystem is depositing in the vertical direction. For both conditions, work perimeter of 12” x 12” x12” and 8”x 8”x 8” were simulated.  CNC codes were written to instruct the system to performtool movement to cut the peripheral of the specified work perimeter, and any obstruction orcollision was recorded. Simple movement is represented by a cube, while a more complexmovement is represented by a part with overhang as illustrated in figure 4(a) and figure 4(b). (a) Cube representing simple vertical buildup          (b) Part requires rotation and tiltingFigure 4: Representative objects for tool path and work volume verificationFrom the simulation results, the 12” x 12” x 12”  work perimeter had demonstrated somecollisions for rotating and tilting movement, while the 8” x 8” x 8” work perimeter had shown nocollision for both simple and rotate-tilt movements.  The results are presented in Table 5.  Majorhardware components of the system is shown in Table 6         Table 5: Simulation Results for 12” x 12” x 12” and 8” x 8” x 8” work volumeWork EnvelopeRepresentationsDeposition Process Milling ProcessPerimeter (12” X 12” X 12”) • No collision • No collisionWith rotation and tilt(12” X 12” X 12”)• Collision between part androtary table base• Collision between part androtary table base• Collision between part andmachine column.Perimeter (8” X 8” X 8”) • No collision • No collisionWith rotation and tilt(8” X 8” X 8”)• No collision • No collision16Table 6: Major Hardware Components of  LBMD System    Component Sub-Components Primary Functions2-Axis Rotary Table• Rotation and tilt motion• Work table for the system5-axis CNC Machine3-Axis milling machine• X, Y and Z motion• Controls all axes motionPowder Storage Hopper• Store metal powder• Releases powder to powder feeder unitPowder Feeder Unit• Feeds powder into nozzle• Controls powder flow ratePowder  and Laser Nozzle• Deliver powder to melt pool• Deliver protection and carriage gasLaser Head• Holds laser focus lensesGas Supply System• Provide Protection and Carriage gasPowder and Laser DeliverySystemFiber Optic Cable• Deliver laser beam to focus lensesWay cover• Protect Linear table from contaminants(dust and moisture)1-axis Linear Table Motor and Encoder• Provide Linear table motion• Closed loop control  for linear table4  SOFTWARE AND CONTROL SYSTEMTypical software architecture for a Laser Based Material Deposition includes themodeling of a three-dimensional CAD model in standard Stereolithography (STL) format,generation of layer representation of the object which is equal to the deposition thickness, andcreation of CNC codes for the tool path that are understandable by the machine controller [3,4,7].The system architecture for the LBMD system is illustrated in Figure 5.17Figure 5: System Architecture [8].5 CONCLUSIONSDesign and integration process of a Laser Based Material Deposition System have beenpresented and a LBMD system is proposed. A three-dimensional graphical simulation has beenapplied and proven to be a useful tool in the development of the LBMD system. A few importantconsiderations in the design and integration of the system include the following: (i) systemperformance – high accuracy and precision, stable powder and power delivery, online controland monitoring. (ii) high temperature working environment –  nozzle made of high temperaturematerial and equipped with cooling system. (iii) protection of optical lenses or any sensitivecomponents from moisture and dust or easily cleaned and replaceable. (iv) safety – laserradiation, metal powder, coolant mist and dust. (v) maintenance – laser alignment check shouldbe minimize, ventilation system is needed to properly disposed contaminants (metal powder,coolant mist, dust) out of the systemACKNOWLEDGEMENTSThe support from the National Science Foundation Grant No. DMI 9871185 isappreciated. The contributions from the RP group at UMR and the support from Research andDevelopment Unit, Universiti Sains Malaysia is also noted here.Powder Feeder ControllerSplitterPowder FeederLBMD DesignLaserControllerNozzleProductCNC ControllerCNC MillingLaserProcessMonitorCAD DataMass Flow RatePowderPowderPowerPowerInformation Cutting path, Feed rateand Tool information18REFERENCES1. Jacobs, P.F., Rapid Prototyping & Manufacturing: Fundamentals of Stereolithography,Society of Manufacturing Engineer, 1st edition, pp.1, 18-20, 1992.2. Koch, J.L. and Mazumder, J., Rapid Prototyping By Laser Cladding, The InternationalSociety For  Optical Engineering, vol. 2306, pp. 556-eoa, 1993.3 .  Keicher, D.M., Miller,W.D., Smugeresky, J.E. and Romero, J.A., LaserEngineered Net Shaping (LENS): Beyond Rapid Prototyping to Direct Fabrication,Proceeding of the 1998 TMS Annual Meeting, San Antonio, Texas, USA, p. 369– 377.4. Beardsley, Tim, Making Light Work: Blasting Metal Powder with Lasers to MakePrecision Parts, Scientific American, August 1997.5. Kreutz, E. W., Backes, G., Gasser, A. and Wissenback, K., Rapid Prototyping withCO2  Laser Radiation, Applied Surface Science, vol. 86, 1995, p. 310-316.6. J. Laeng, J. G. Stewart and F. W. Liou, Laser Metal Forming Processes For RapidPrototyping- A Review, International Journal of Production Research, Vol 38, No.16,3973-3996, 2000.7 . McLean, M. A., Shannon, G. J. and Steen, W. M., Laser Generating MetallicComponents, SPIE, Vol. 3092, 1997, p. 753-756.8 . Laser Aided Material Deposition System, Rapid Prototyping Group, University ofMissouri-Rolla.19

Design and Integration of a Laser-Based Materials Deposition System

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Design and Integration of a Laser-Based Materials Deposition System

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