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Computerized Tool Path Generation

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69 views88 pages

Computerized Tool Path Generation

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henokzewdu
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© © All Rights Reserved
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2) United States Patent (10) Patent No: US 8,489,224 B2 Berman et al. (45) Date of Patent: Jul. 16, 2013 (S!) COMPUTERIZED TOOL PATH GENERATION $5529 4 ¢ $1836 toni e018 + St Romie da joie 5 1096 Jim ta Sise (5): Mia Bran Yor I) 191356 Jim sis Joron Oxovansld Cit Shmuel (I) Sree mae Christopher Calderone, Leviton, PA 2 "atboe Pee a2 oot (US). Anthony Calderon, Yardley, PA Simm A+ 1bt Aaa worn & SInI38 A * '82000 Fskman ‘tos CUUIUD BIS 10200 Summa Zoais0 i Saag Bie ‘S202 Shine “oe (73) Assignee: Solideam Ltd, Or Yehuda (IL) arse ial ane Fah ta son (4) oti: Subject to any disclaimer, the term ofthis Fayactal wis Palen is extended or ajusted unier 35 S391 158 BL Bacau al Bsc. tsayey 1 don Sis 2+ 1D2006 Aer os 728to@ aise (21) Appl. Nos 13/036,726 Tamu Hong eta wea (Coin) (22) Filed Reh. 28,2011 omits PUBLICATIONS «6 Prior Publication Data nln Sesh Rta Wit Ono bth Tsao ee 7.2012, which isd dig th poco of Apa PCT 1201200087 (51) Int-c. aa GO6F 19/00 (011.01) (Continued) (52) US.CL Primary Examiner —Ramesh Patel USEC su. 700/81; 700159; 700/160; 700173 O0183; 7001190 (58) Field of Classitication Search usec 700/159-160, 173, 181, 183, 190 29/608. 07; 408/31; 40964, 80, 84, 132; 481/64 ‘See application file for complete search history. (56) References Cited US. PATENT DOCUMENTS. ADSSSE A SI988 Kishi etal ABOTIGE A VI990 Guyder D880 A #1991. Shinorak 0018 $08,306 4 + 81991 Jepson ro 192 Spoisol A * 211902 Galler eta ro0199 EQSHK43 A * 10:1999 Mads 700176 S297022 A * Vio Watanabe 70086 S363308 A 111904 Gayder (74) Atorn Agent, or Firm —Sughrue Mion, PLLC “7 ABSTRACT An automated computer implemented method for generating ‘commands for controling «computer numerically controled machine to fabricate an object froma workpiece the method including the steps of selecting a maximum permited engagement angle between a rotating euting tol and the workpiece, selecting a minimum permitted engagement angle between the mating eutng tool and the workpiece, and configuring a too path for the tool relative to the work piece in which the engagement angle gradually varies hetwoon the maximum permitted engagement angle and the rinimum permitted engagement angle. £80 Claims, 61 Drawing Sheets US 8,489,224 B2 Page 2 USS. PATENT DOCUMENTS. BOIVOLT862 AL* 712011 Diehleta 00187 7451013 B2* 11/2008 Coleman tal 0173 (OTHER PUBLICATIONS, 7871490 B2* 82009 Diehlet al. 70173 703588 B2* 42010 Honget a. ‘7o0'61 _Masinse. Toll Path Strategies for high Speed Machining. Modem 7831332 B2* 112010 Dell 00190 Machine Shop (Fb. 15,200} cieved on Jl 9, 2012} Revived 000834 B2* 8/2011 Diohlet a 700/190 fom the interes ‘20080265085 Al 10/2008 Dich etal DOIMOIOISS9 AL 72010 Diehlet a * citod by examiner US. Patent Sul. 16, 2013 Sheet 1 of 61 US 8,489,224 B2 US. Patent Sul. 16, 2013 Sheet 2 of 61 US 8,489,224 B2 102 100 Yo O: 1B FIG. 104 12 US. Patent Jul. 16, 2013 Sheet 3 of 61 US 8,489,224 B2 US. Patent Jul. 16, 2013 Sheet 4 of 61 US 8,489,224 B2 US. Patent Sul. 16, 2013 Sheet 5 of 61 US 8,489,224 B2 US 8,489,224 B2 Sheet 6 of 61 Jul. 16, 2013 US. Patent ve US. Patent Sul. 16, 2013 Sheet 7 of 61 US 8,489,224 B2 US 8,489,224 B2 Sheet 8 of 61 Jul. 16, 2013 US. Patent US. Patent Sul. 16, 2013 Sheet 9 of 61 US 8,489,224 B2 US 8,489,224 B2 Sheet 10 of 61 Jul. 16, 2013 US. Patent wa Sz US. Patent Sul. 16, 2013 Sheet 11 of 61 US 8,489,224 B2 US 8,489,224 B2 Sheet 12 of 61 Jul. 16, 2013 US. Patent US. Patent Sul. 16, 2013 Sheet 13 of 61 US 8,489,224 B2 FIG. 11-1 m US 8,489,224 B2 Sheet 14 of 61 Jul. 16, 2013 US. Patent Z-lt “Old out US 8,489,224 B2 Sheet 16 of 61 Jul. 16, 2013 US. Patent 95 US 8,489,224 B2 Sheet 18 of 61 Jul. 16, 2013 US. Patent c-mL “Old aul US 8,489,224 B2 Sheet 20 of 61 Jul. 16, 2013 US. Patent US 8,489,224 B2 Sheet 22 of 61 Jul. 16, 2013 US. Patent US 8,489,224 B2 Sheet 24 of 61 Jul. 16, 2013 US. Patent US 8,489,224 B2 Sheet 26 of 61 Jul. 16, 2013 US. Patent O6t c—-Ol “Old 761 US 8,489,224 B2 Sheet 28 of 61 Jul. 16, 2013 US. Patent US 8,489,224 B2 Sheet 30 of 61 Jul. 16, 2013 US. Patent Li QL 9b veh Pelz. Z0% US 8,489,224 B2 Sheet 32 of 61 Jul. 16, 2013 US. Patent US 8,489,224 B2 Sheet 34 of 61 Jul. 16, 2013 US. Patent 1617 O61 lz eH sl az vie US. Patent Jul. 16, 2013 Sheet 35 of 61 US 8,489,224 B2 US. Patent Sul. 16, 2013 Sheet 36 of 61 US 8,489,224 B2 402 400 x“ FIG. 2B US 8,489,224 B2 Sheet 37 of 61 Jul. 16, 2013 US. Patent US 8,489,224 B2 Sheet 38 of 61 Jul. 16, 2013 US. Patent US. Patent Sul. 16, 2013 Sheet 39 of 61 US 8,489,224 B2 Va 400 FIG. 2D-—2 US 8,489,224 B2 Sheet 40 of 61 Jul. 16, 2013 US. Patent L-4az “Old ozr— US. Patent Jul. 16, 2013 Sheet 41 of 61 vn FIG. 2E-2 US 8,489,224 B2 US 8,489,224 B2 Sheet 42 of 61 Jul. 16, 2013 US. Patent b-4@ “Old US 8,489,224 B2 Sheet 43 of 61 Jul. 16, 2013 US. Patent ee : a Lat =" é€-dé ‘Old US 8,489,224 B2 Sheet 44 of 61 Jul. 16, 2013 US. Patent b-9@ ‘Old US. Patent Sul. 16, 2013 Sheet 45 of 61 US 8,489,224 B2 400 a 26-2 FIG. US 8,489,224 B2 Sheet 46 of 61 Jul. 16, 2013 US. Patent L-H@ “Old US 8,489,224 B2 Sheet 47 of 61 Jul. 16, 2013 US. Patent oor Z-HZ ‘Old US 8,489,224 B2 Sheet 48 of 61 Jul. 16, 2013 US. Patent L-I@ “Old US 8,489,224 B2 Sheet 49 of 61 Jul. 16, 2013 US. Patent oor” Z-Iz “Old US 8,489,224 B2 Sheet 50 of 61 Jul. 16, 2013 US. Patent l-fe “Old US. Patent Sul. 16, 2013 Sheet 51 of 61 US 8,489,224 B2 400 ae FIG. 2J-2 US. Patent Sul. 16, 2013 Sheet 52 of 61 US 8,489,224 B2 FIG. 2K-1 US 8,489,224 B2 Sheet 53 of 61 Jul. 16, 2013 US. Patent Gop Z-NZ “Old US. Patent Sul. 16, 2013 Sheet 54 of 61 US 8,489,224 B2 FIG. 2L-1 US. Patent Sul. 16, 2013 Sheet 55 of 61 US 8,489,224 B2 400 ae FIG. 2L-2 US 8,489,224 B2 Sheet 56 of 61 Jul. 16, 2013 US. Patent Ca) Gans) Games aay yop Bunn ynd}n0 eS SONS OOO © 96re lI es a1 99KS “7 wadsp 303/95 “1 suonipuosf6un3no Aupoyis aa ayoyduoy euibu uoyp.ed9 siojouniod “9s1N >) uae Abyouy>al ps| pro2wy, ABjouypay sien} feo Aajausoag @- fa uBnoy! eu, D> acs) TonoIsdObUIION ve ‘Old US 8,489,224 B2 Sheet 57 of 61 Jul. 16, 2013 US. Patent Cp000 J (02) (wm) vo (vow) v9) (mooy/usu) 74 “(uruu/ us) UBIO jonjyay@ yp Bunyng yndyng- e ByDIAUAG |] (SIMD] W 20s) (_ AOS) cops 000 ve) ooo 96re' ei] 000% _s+z#6| ees Sov uydeg pao] 49186 wdap 399795 “| suonipuoa Burin Apo suoripuos Bun yn9 2e ayoiduro, suojaupiod -261y1 > wae Abjouysoy gas puozm, ABjouyoo) 64 spot FY too GB Anouiosg G+ ubrow TEEN UwonDiedgbUIUNyDOR ag “Old US 8,489,224 B2 Sheet 58 of 61 Jul. 16, 2013 US. Patent P1BuI9@ yop Bur ey fayOITOIOD ® BA0S) (OAS } fesiee coon ve coors o6veeiL) eussepOHy Fpno yo1as “7 000% _avzv'6[) Sddv| sndeg udap y09I95 "1 suorypuoa Suny 2B ayodw9y n> fypon|fsuorypuo> Sugino ‘ouiDu_wonDzadg suoyouns0d “351W punzy\ Bjouypay spre eo, GE Anjousoeg @-! BOUL wonoredgSumiyo0" o¢ “Old US 8,489,224 B2 Sheet 59 of 61 Jul. 16, 2013 US. Patent (ido an09) Cae) ams) GRR aS sovee ooo vePy ooo s6ve'81L] oz _aver'6L] Sd0¥) og ayoydwoy, ‘uibu uojosedg sejauoind “291n ur Abjouypay puoziy, K6jouyo0y spna) reo, kxyaunag >! now OUTS, oRDISdQBUNIDON d¢e ‘old US 8,489,224 B2 1 COMPUTERIZED TOOL PATH GENERATION FIELD OF THE INVENTION ‘The present invention relates to systems and methodolo- 5 tes for automated tool path design and computer controlled machining and prouts produced hereby BACKGROUND OF THE INVENTION » ‘The following publications are believed to represent the ‘eurrea sate ofthe at an ae hereby inconporated by refere US, Pat, Nos. 4,745,588; 4,907,164; 5,363,308; 6.363, 208; 6.447.223; 6,591,158; 7451, 013; 7.577490 and 7.831 33%; and US Published Patent Application No,: 200510256004. ‘SUMMARY OF THE INVENTION ‘The present invention seks to provide systems an meth- ‘odologies for automated toa ath design and computer coa- trolled machining and procs rodced thereby. ‘There is thus provided in accordance with 2 prefered «embodlimentof the present invention anawtomated computer implemented method for generating commands foe coneol ling computer numerically controled machine o fabricate abject froma workpiece the method inching the steps oF selecting maximum permitted engagement angle berween.a rotating outing to! an the workpiece selecting «minimum permifted engagement angle between the rating eating 0] and the workpiece, and configuring a tool path forthe tol relative tothe workpice in which the cgagement angle tnadully varies beteen the maximum permite engaae- tment angle and the minimum permited engagement angle. 5 Tnaccorlance witha prefered embedment ofthe present invention, rspoasive to consideration of at lea one a eae dcteristis of the computer merical controlled machine, rotating cutting tool and material of the woekpoce the con: figuring also includes minimizing, subjet 10 other con straints, therate ofchangeo! the engagement angle over tine, ‘radully changing the feed speedo the tool comesponding tothe changing engagement angle, msntining a generally ‘constant workload om the tool, and minimizing the cost of fabricating the object, whereby he cost isa combination of 45 the cost of operating the machine forthe uration of the fabrication andthe ostof the wear initeon the too during the fabrication Preferably, the tool path includes a plurality of tol path segments and configuring a to! path ineides recursively configuring each of the tol path seymeats, and wherein, responsive tocoasidention fal eastoneafchareterisiesof the computer numerically controlled machine, rotting ct ting tool and materi of the workpiece, configuring each of the tool path seymeats als eludes minimizing, subjet to ‘other constins the rate of change ofthe engagement angle ‘overtime, gradually changing the feed spood of the tol ‘corresponding to the changing engagement angle, meintain- ing a generally consant work lod onthe tol, nd asinine ing the cost of machining the each ofthe tool path seamen, ‘whereby’ the cost ia combination of the cost of operting the racine foe the duration ofthe machining andthe cst the ‘wea inlited onthe too ding the machining Aakitionally each of the tool path segments inches plurality af too path subsegmeats and recursively eontig- dng each of the tol path segments inches ecusively con- figuring cach of the tool path subsegments, and wherein » 2 responsiveto consideration ofa east one of characteristics of the computer numerically coutlled machine, rotating eut- ting tool and material ofthe workpiece, the configuring each ofthe to! pat subsepments alsa incldes minimizing, sub- ject olbercastrains, the rate of change ofthe engagement angle overtime, gradually changing the feed specd of the tol corresponding the changing engagement angle, maintain- nga generally constant work lod on the too, and minimiz« ing the cost of machining the each of the tool path subsea ments, whereby the cost is a combination of the cost of operating the machine forthe duration ofthe machining and the costo the wear inficteon the tool during the machiaing, ‘There is also provided in accordance with another pre ferred embodiment of the present invention # method! for machining a workpiece employing a computer conteolled ‘machine too, the method including directing the too along 8 ‘ool path wherein an engagement angle between the too ad the workpioce gradually varies between a preselocted maxi- rium permited engagement angle and a preselected mini- mum pemnited engagement angle. ‘There is further provided in accordance with yet another prefered embodiment ofthe resent invention an automated computerimplemented apparatus for generating commands Jor cootrling a computer numerical conmlled machine to Jabricatean object froma workpiece, the apparatus including «tool path configuration engine operative Toe configuring 8 tool path for a tool relative tothe workpiece ia whieh the engagement angle gradually varies between a preselected raximum permitted engagement angle and a preselected rminimum permitted engagement angle. Preferably the configuring includes minimizing, subjetto other constraints, the rate of change ofthe engagement angle overtime, Preferably, te configuring also includes gradually caging the feed speod of the tol coreesponding © the changing engagement angle. Preferably, the configuring is also operative to maintain a generally constant workload on the tool, Preferably, the configuring is also operative to mini= mize the cost of fabricating the object, whereby the cost is 2 combination of the cost of operating the machine forthe uration ofthe fabricationand the cost ofthe wea iflictedon the tool during the fabrication, The prefered features refer- enced in this paragraph are also applicable to all appropriate claimed embodiments of the present invention. Preferably, te tol path includes plurality of too! path segments and configuring a tool path includes recursively configuring exch of the tool path segments, and wherein the configuring each of the tool path segments also includes ‘minimizing, subject o other consists, the ateof change of the engagement angle overtime, gradually changing the feed speed ofthe tool corresponding tothe changing engagement angle, maintaining a generally coustat workload onthe oo, snd minimizing the costof machining theeachof te tol path segments, whereby the cost is a combination of the cost of operating the machine forthe duration ofthe machining ae the cost ofthe wear inflicted onthe ool during the machining The preferred features refereed inthis paragraph are also applicable to all appropriate clsimed embodiments of the present invention, Preferably, each ofthe too! path segments includes a plu- rity of too! path subsegments and recursively configuring exch ofthe foo path segments incdes recursively configt= Jing each ofthe tol path subsepments, and wherein the con- figuring eachof the oo! path subsegments als includes mini- nizing, subject to other constrains, the rato of change ofthe engagement angle overtime, gradually changing the feed speed ofthe tool corresponding othe changing engagement angle, maintaining a generally constant workload onthe oo, US 8,489,224 B2 3 and minimizing the cost of machining the each ofthe too pa subsegments, whereby the cost isa combination of theeost of ‘operating the machine for the duration ofthe machining and the costo the wea nficteon the tool during the machining, ‘The proferred features reference in this paragraph ae also applicable to all appropriate claimed embodiments of the preset invention, Preferably, the configuring also includes considering at least one of characteristics ofthe computer numerically con trolled machine, rotating cutting tool and material of the workpiece. The prefered feutues referenced in this para _araph are also applicable wall appropriate claimed embod ments ofthe present invention, “There is yet further provided in acconlance with still ‘another prefered embodiment of the present inveation an sutomated computer-controlled machine w fabricate an ‘object from a workpiece, the machine inchuding a conrller ‘operative for dtectinga rotating cutting tol along a too path relative to the workpiece in Which an engagement angle 2 between the tol and the workpiece gradually varies between ‘preselected maximum permitted engagement angle and a preselected minimum permitted engagement angle ‘There is yet further provided in accordance with still another prefered embodiment of the present invention an ‘object fabricated from a workpiece machined using a com- puter controlled machine tol by directing 2 ating cuting ‘ool along too! path wherein an engagement angle between the rotating euting tool and the workpiece gradually varies between a preselected maximum permitted engagement angle and « preselected minimum permitted engagement angle ‘There is yet frther provided in accordance with sill nother prefered embodimeat of the resent invention an tuomated computerimplemented method for generating ‘commands for controlling a computer numerical contolled machine to fabricate an object from a workpiece the method including he stepsof selecting a regionot the workpiece tobe removed by a rotating cuting tol, configuring an asymmet- rie spiral to! path forthe rotating cutting tol inthe epion of the workpiece, which asymmetric spiral ool path maximizes the portion of the region of the workpiece which is removed by the roating cutng tool moving along the asymmetric spiral tool path. Preferably, the method also includes configuring at least ‘one trochoidal-lik tool path forthe rotating cutting too in a remaining portion ofthe region of the workpiece which is, remuved by the tool moving along the tochoidal-lke tol path Preferably, the method also includes selecting maximum permitted engagement angle between a rotating cutting tol and the workpiece, selecting a minimum permited engage- rent angle between the rotating cutting tool and the work Piece, ane configuring the asymmetric spiral to! path an the atleast one tochoidal-like tol path relative w the workpivce so thatthe engagement angle gradually varies between the maximom permitted engagement angle and the minimm. permitted engagement ange Preferably, responsive to consideration of atleast one of ‘characterises of the computer numerically controlled ‘machine, rotating cutting ool and material ofthe workpiece, the configuring also includes minimizing, subject to other ‘constraints, the rate of change of the engagement angle over time, gradually changing the feed speed ofthe tool core sponding to the changing engagement angle, maintaining generally constant work ladon the tool, and minimizing the ‘costo fabricating the objet, whereby the cost sa combina 4 tion ofthe cost of operating the machine for the duration of the fabrication ad the cost of the wear inficted on th tol during the fabrication Preteably, the asymmetric spiral too! path includes a plu- ‘ality of spizl tol path segments, deat east one rochoidal- like tool path includes a plurality of trochoial-tike tool path segments, configuring an asymmetric spiral tool path includes reeusively configuring each ofthe spital ool path segments, and configuring atleast one tveboidal-like tol path includes recursively configuring each ofthe rochoidal- like tool pth segments, and wherein responsive to consider- ation of atleast one of characteristics of thecomputer mumeti- cally controlled machine, rotating cutting foo] and materia of the workpiece, the configuring each ofthe tool path segments also includes minimizing, subjectto other constraints, the rate of change of the engagement angle over time, gradually changing the feed speed of the tool corresponding t the changing engagement angle, mriatsining a generally coa- staat work load on the tool, and minimizing the cost of machining the each of the tool path sepmients, whereby the cost isa combination ofthe ost of operating the machine for the duration of the machining and the cost of the wear inflicted onthe tool during the machining. Additionally, each of the too! path segments includes a plurality of tool path subsegments and recursively configure ‘ng each ofthe tol path segments includes recursively con figuring each of the tool path subsegments, and wherein responsiveto consideration ofat eat oneof characterises of the computer anmerically controlled machine, rotating cut- ting tool and material ofthe workpiece, the configuring each ‘ofthe tol path subsegments also includes minimizing, sub- jc other constrains, theate of ehange of the engagement angle over timo, gradually changing the feod speed of the tol corresponding 1 the changing engagement angle, maintain- ing a generally constant work load on the tool and minimiz= Jing the cost of machining the each of the tool path subsea ments, whereby the cost is a combination of the cost of operating the machine forthe duration ofthe machining and ttecost of the wear inflicted onthe tool during the machining, Preferably, the asymmetric spiral too! path is one of @ coaverging spiral tool path and a diverging spiral tool path “There is Yet further provided ia accordance with still another prefered embodiment of the present invention a method for machining a workpiece employing a computer controlled machine tool, the method including selecting a region ofthe workpiece to he removed by a oating cutting tool, and directing the too! along an asymmetie spiral tol path inthe region ofthe workpiece, wherein the asynmeteic spiral tol path maximizes the portion ofthe region of the ‘workpiece whichis removed by the roating cutting tool mov- ing along the asymmetic spiral too path. Preferably, the method aso includes divcting the eating etting oo! along st eat one trochoidal-like ool path in remaining portion of the region of the workpiece which is removed By the tol ‘moving along the tochoidal-like tool path, “There is yet further provided ia accordance with still nother prefered embodiment of the present invention an suomated computerimplemented apparatus for generating commands for eonvoliag a computer numerical conlled chine to fabricate an objet from a workpicce the appara- tus including a tool path configuration engine operative for selecting a region of the workpiece to be removed by a rtat- ing cuting oo, atl for configuring an asyaunetric spiral tol path forthe rotating cutting tol in the region of the work piece, which spiral to! path maximizes the portion ofthe regioa ofthe Workpiece which is ramoved by the rotating cutting too! moving along the asymmetric spiral ool path US 8,489,224 B2 5 Preferably, the ool path configuration engine isalso opera- tive for configuring at least one tochoidal-like tool path for ‘heotating cutting ool ina remaining porionof theregion of ‘he workpiece whichis removed by theo moving slong the twochoidallike tool path s Preferably, the configuring includes selecting « maximum permitted engagement angle between a rotating cutting to! and the workpiece, selecting 2 minimum permited engage- meat angle between the rotating cutting tool and the work Piece, and configuring the asymmetric spiral tol path andthe atleast one trochoidal-like tol path relative tthe workpiece so thatthe engagement angle gradually varies between the ‘maximum permitted engagement angle and the minimum permitted engagement ange. Preferably, the configuring includes minimizing, subjetto 18 ‘other constrains, the rae of change ofthe engagement angle ‘overtime. Preferably, the configuring also includes gradually ‘changing the feed spoed ofthe tool coresponding to the ‘changing engagement angle. Preferably, the configuring is also operative to maintain a generally constant work load on the too. Preferably, the configuring is also operative to mini- mize the cost of fabricating the object, whereby the cost is a ‘combination ofthe cost of operating the machine for the ‘duration ofthe fabrication andthe cost ofthe wearinited on the to! during the fabreation Preferably, the asymmetric spiral tool path includes a pla- rally of spiral tool path segments, thea eat one tochoidal= like tol path includes a plurality of rochoidal-tike tool path segments, configuring an asymmetric spiral tool. path includes recursively configuring each of the spiral tool path segments, and configuring atleast one trochoidal-hike tol Path includes recursively configuring each ofthe trochoidal- like tol path segments, and wherein responsive to coasidee- ation atleast one of characteristics ofthe computer umeri- ‘aly conitolled machine, rotating cutting tool and material oF the workpiece, the configuring each ofthe too! path sepments ‘als includes minimizing, subject other constraints therate ‘of change of the engagement angle over time, gradually ‘changing the feed speed ofthe tool coresponding to the ‘changing engagement angle, maintaining a generally con- sant work lood on the tool, and minimizing the ost of machining the each of the tol path segments, whereby the ‘cost isa combination of the cost of operating the machine for the duration of the machining and the cost of the Wear inflicted onthe tool during the machining Additionally, exch of the tool path segments inches a plurality of tool path subsegments and recursively configur- ing cach ofthe tol path segments includes recursively figuring cach of the tool path subsegments, and wherein responsive oconsideration ofa least one of characteristics of Sb the computer numerically controlled machine, rotating cut- ting tool and material ofthe workpiece, the configuring each ‘of the tool path subsegments aso ineludes minimizing, sub- {oct toother constraints, the rateof change ofthe engagement ‘angle overtime, gradually changing te fed speed ofthe tool ‘corresponding tothe changing engagement angle, mina ing a generally constant work load on the too, snd minimiz~ ing the cost of machining the each af the tol path subseg- meats, whereby the cost is a combination of the cost of ‘operating the machine for the duration ofthe machining and the cost ofthe wear infliction the tool during the machining, Preferably, the asymmetric spiral tool pah is one of a ‘converging spiral tool path anda diverging spiral tol path ‘There is yet further provided in accordance with still another prefered embodiment of the present invention an ‘aufomsted computer-contolled machine 10 fabricate an ‘object from a workpiece, the machine including a controller Fa 6 operative for selecting 4 region of the woskpiese 10 be removed by a rotating cutting tool, and for directing the rotating cting tool along an asymmetric sia ol psi in theregion ofthe workpiece which pra tool path maximizes the portion ofthe region ofthe workpiece which is removed by the rotting cutting tool moving along the asymmetric spiral oo path Preferably, thecontlleris ls operative for directing the rotating cuting ool alg atleast one tochoidal-ke ool path in a remaining portion ofthe region of the workpiece Thich s removed by the tol moving along the tochoidl- like too path ‘There is yet further provided in aecondance with sil another preferred embodiment ofthe present invention an objet fabricated rom a workpiece machined using & com- per controlled machine tol by selecting a region ofthe workpiece to be removed bya rating eutng tol and by dzeting the rotating ctting tol slong an asymmetec sical ‘ool path athe region ofthe woekpgee, which pital too path maximizsthe portion ofthe regina the workpiece whichis removed bythe eating eutng tol moving along the asym- rote spiral tool path Prelerably, the objet i ibicated also by dieting the rotting cuting tool along at ess one tehodl-ke tol path in a remaining portion ofthe region of the workpiece Thich is removed by the tol moving along the tochoidl- ike tol path ‘There is yet furer provided in aecordance with sll anoher preferred embodiment ofthe present invention an automated computerimplemented method for generating commands for conioling a computer numeral eontlled machine to farcatean object froma workpiece the mth inclodingthe stops of selotingareaionof the werkpieceto be removed bya mating euting oa, selecting it portion of the eon o be removed by an asymmetric spiral oo pa and configuring at fast one tochoidal ike tol path for removing a reniaing portion ofthe eon, and wherein the selecting aft potion ofthe region is operative a minimize the machining ime necessary o remove the region. Prelerably ibe method also includes selecting maximum permitted eagagement angle between a tol and the work- Piece, selecting minimum permited engagement angle between the tool and the workpiece, and configuring the asymmiete spiral ool path and the at lest one tochoidl- ike oo! pathrelatveto the workpiece so that the engagement angle gradually varies hetween the maximum permited engagement angle and he minimum permitted engagement angle Preferably, responsive to comidertion ofa least one of characterises of the computer numerically. contalled nuachine rotating euting ool and materia of the workpiece, the configuring also includes nizing, subjet to other constraints, the rate of change ofthe engagement angle over time, gradually changing the fed spe of the tool core- sponding to the changing engagement angle, maining a severly constant work oad onthe tol and minimizing the ost avicatng te object, whereby the ost isa eombina- tion athe cost of operating the machine forthe duration of the fabrication an the cst ofthe wear ilictd onthe tool during the fabrication, Preferably the asymmetric spiral tol path ina plo- salty of spiral ol pth seement, the ateast one wochoidal- like to! path aces plurality of tochoida keto! path segmens, the configuring an asymmetric spiral tool path inches recursively configuring each ofthe spiral ool pth Segments, the configuring at least one tochoidal-ike tol Path incades recursively configuring each of the ochoidl- US 8,489,224 B2 1 like tol path segments. and wherein responsive to consider- ation ofa leastoneof characteristics ofthe computer numeri ‘ally controled machine, rotating cuting tool nd material of the workpiece, the configuring each of the tool path segments ‘also includes minimizing subject olher constants therate ‘of change of the engagement angle over time, gradually ‘changing the feed speed ofthe tool coresponding to the changing engagemeat angle, maintaining 2 generally oon- stant work od on the tool, and minimizing the ost of machining the each of the tool path seaments, wliereby the ‘cost isa combination of the cost of operating the mache for the duration of the machining and the cost of the Wear inflicted onthe tool during the machining Preferably, ese of the tool path segments includes plu ralityof too! path subsegments and recursively configuring ‘each ofthe tool path segments includes recursively contigue- ing each ofthe ool path subseyments, and wherein respon sive to consideration of at last one of characteristics ofthe ‘computer numerically controlled machine, rotating cutting ‘ooland material ofthe workpiece, theconfiguringeachofthe 2 tool path subsegments also eludes minimizing, subject to ‘other constraints, the rate of change ofthe engagement angle ‘overtime, gradtlly changing the feed spood of the tol ‘soresponing tothe changing engagement ange, msintsin- inga generally constant work lod on the oo, and minim ing te cost of machining the cach of the tol path subsea meals, whereby the cost is combination of he cost of ‘operating the machine forthe dation ofthe machining and thecostof the wea infictdon the tol during te mschining. Preferably, the asymmetric spiral tol pth is one of a ‘converging spiral ol path ae averging spiral ol path, ‘There is yet farber provided in accordance with tl swothor prefer embodiment of the preset inveation a method for machining 8 workpiece employing a computer come michine to, the metbod inclding slong @ region of the workpiece to be removed by aotatngeuting tool selecting fit potion of the repion o be removed by asymmetric spiral ool pa, and directing the tol along at least one trochoidablike too! pth in a remaining portion of the region ofthe workpiece, and wherein selecting fist postion ofthe region sapeatve to minimize the machining Hime necessary to remove the region ‘There is yet fariber provided in accordance with stl nother prefered embodiment of the preset vention an ‘ome computer implemented appérats fo generating, ‘commands for contin a computer numerical eontoled machin o fabricate an objet fom a workpiece, the apara- tus inluding tool path configuration engine operative for selecting region of the workpieeto be removed bya rate ing cutting tol, olectinga fst potion ofthe region to be removed by an asymmetric spiral ol a and for configu ing atleast one tobaial-tike tool path for removing @ remaining potion of th region, and wherein the selecting 2 fistporionof the region isoperativeto minimize the machin ing ine necessary to remove the region. Preferably the config ncdes selsing a mai permitted engagement angle between rating eting tol andthe workpiece, selecting a minimum pemiteengage- meat angle between the rotating euting ool and the Work piece, and configuring the asymmetric sil tool pathandthe atleast onetrochoidel-ike tol pa elatve tothe workpiece fo tat the engagement angle gradually varies berween the maximum permitted engagemeat angle and the misimm permite engagement angle Preferably te configuring includes minimizing, sbjet io ‘other constrains the rate of change ofthe engagement angle ‘overtime. Preferably the configuring also includes radly s 8 changing the fed speed ofthe ool corresponding wo the changing engagemeat angle Prefebly, the configuring is als operative to maintain generally constant work load on the oo, Prefebly, the configuring also operative omni mize the cost of abicating the objet, whereby the cost isa combination of te cost of operating the mache forthe duration ofthe fabicationandthecost ofthe wear infictd on the tool daring the fibration Preferably the asymmetric spiral tol path inhadesaplo- salty of spiral tool pth seamen that east one tocboidal- like to! path aces plurality of troche tol path segments, configuring an asymmetric spiral tol path inches recursively configuring each of the spiral Yo! path Seqncus and configuring atleast one trochoidal-ike tool put includes recursively configuring each ofthe woshoidl- ike tool pth segneats, and wherein responsive wo consier- ation fat estone of characteristics the compte mumed- cally controled machine, ating cuting tol and material of the workpieve th configuring each othe oo pat segments alsoincudes minimizing, subjectto other constants theate of change ofthe engagement angle over time, gradually changing the fed speed ofthe tool comesponding. to the changing engsgemet ange, minting @ genealy con- stant work foad on the tol, and. minimizing the cost of machining the exch of the tol path segment, whereby the costiva combination ofthe cost of opening the mache for the duration of the machining and the cost of the Wear inflicted on the to! during the machining Ationally, each of the tol path seymens includes a plurality of tool path ubseyments and recursively contig dng each ofthe too path segments includes recursively con- figuring each ofthe tool path subsegments, and wherein responsvetoconsidetionof at leastone ofchareteristiesof the computer numerically controlled machine, rotating eu ting tol and material ofthe workpiece, the coniguring each ofthe tool path subscuments alsa inelides minimizing, sub- ject other constrains, the rate of change ofthe engagement angle overtime, gradually changing the feed speed of theo! cortesponting (the changing engagement angle, maintan- ings generally constant workload onthetool and asninizing the cos of machining the each of the tool path subseamens whereby the costs combination of the cost of operating the racine forthe duration of the machining ad the cost ofthe ‘wer nlite onthe ool during the machining, Preferably, the asymmetric spiral too! path is one of conversing spi too path anda divering spiral tol pth “There is yet fare provided ia secondance with sll note prefered embodiment ofthe present invention an automated computercontlled: machine to fabricate an objet fom a workpiwe the machine inclu a conwoler operative for selecting region of the woripieee to be removed by a rottingeuting oo, selecting first portion oF the region to be removed by an agymmetc spiral tol path anu foe dreting the rotating euting too long atleast one traci too! path inthe eo of the workpiece, ad wherein the selecting a fist portion of the region is operative to minimize the machining time necessary to remove the region “Thor is yet fare provided in aecordance with sill nother preferred embodiment ofthe present invention an object fabricated rom a workpiece machined using com- puler controlled machine tol by selecting a region ofthe ‘workpiece to be removed by a oatngcuting tol slecting frst potion ofthe ein to be emved by an asymmetric spiral to! path andy directing he rotating eting ol along at leat one tmhoida-ike tool pat in the region of the US 8,489,224 B2 9 ‘workpiece, and wherein the selecting a fst poston of the regio s operative to minimize the machining time nevessary to remove the region There is yet further provided in accondance with still ‘another prefered embodiment of the present invention ans automated computerimplemented method for generating ‘commands for controlling a computer numerical eontolled ‘machine o fabricate an object fom a workpiece by removing portions ofthe workpiece which are aot o be included ia the ‘object, the method including the steps of considering the ‘ross section of a desired object to be fabricated from a ‘workpiece, defining isolated regions ofthe cross section on the workpiece surface which ae not tobe removed as islands, ‘commencing configuring oF ool path in aregion not having islands, and upon the to! path encountering an island, coa figuring a moat tool path Which defines @ moat surounding the island Preferably the method also includes defining « composite region inchiding the island, the moat surrounding the island and regions already removed from the workpiece a a removed region and configuring a tool path to remove a remaining region ofthe workpiece, which remaining region ‘doesnot include the removed region, Preferably, the method also includes selecting 2 maximum permitted engagement angle between a tool and the work piece, selecting minimmim permitted engagement angle between the tol and the workpiece and configuring the moat ‘ool path relative w the workpiece so thatthe engagement angle gradually varies between the maximum permitted ‘engagement angle and the minimum permitted engagement angle. Preferably, responsive to consideration of at last one of. characteristics of the computer numerically contled ‘machine, rotating cuting tool and anateral ofthe workpiece, the configuring also includes minimizing, subject wo other 35 ‘constants, the rate of change of the engagement angle over time, gradually changing the feed speed ofthe tol core sponding o the changing engagement angle, maintaining & eneraly constant work load on the tool and minimizing the ‘cost of fabricating the objet, whereby the costs combins- tion of the cost of operating the machine fr the duration of the fabrication aad the cost of the wear alice oa the tal during the fabrication. Adkiionlly the oo! paths inelude a plurality of too! path segments and configuring the tool paths includes recursively ‘configuring each of the tool path segments, and wherein responsive to consideration ofa eat oneof characterises of the computer numerically conteolled machine, rotating eut- ting tool and material ofthe workpiece, the configuring each ‘ofthe tool path segments also includes minimizing, subject. 50 ‘other constrains, the rae of change of the engagement angle ‘over time, gradually changing the feed speed of the tool ‘corresponding tothe changing engagement angle, maintsin- ing a generally constant work load on the tool, and minimiz~ ing the cos of machining the each of the too path segments, whereby the cots combination ofthe cost of operating the ‘machine forthe duration ofthe machining andthe cos af the ‘wear inflicted on the tol during the machining. ‘Additionally, each of the too! path segments includes a plurality of tool path subsegments and recursively config ing each ofthe to! path sepmentsinchades recursively con figuring each of the tool path subsegments, and wherein responsive To consideration of at east one of characteristics of the computer numerically controlled machine, rotating et ting tool and marecal ofthe workpiece, the configuring each 6s ‘of the tool path subsegments aso includes minimizing. sub- Jesttootherconsrants, the rateof change ofthe engagement 10 angle overtime, gradually changing the feed speed of theo] corresponding to the changing engagemest angle, msintain- inga generally constant work ad on te tol, nd minimiz- ing the cast of machining the each of the tol path subsea nnens, whereby the esti a combination of the east of jperating the machine forthe duration of the machining and thecostof the wea infietdon the tol during the machining. There is yet further provided in scordance with st anoiber peefered embodiment of the present invention a mmetod for machining « workpiece employing «computer controlled machine tel, the method inluding considering the eros section of a desired objet to be fabricated fom a vwrkpiee, defining isle regions ofthe cos section on the workpiove surface which are motto beremaved as islands, inally dieting the to! sng ato! path ina region not having sland, and upon the tol path encountering anisland, diretng the tol along moat oo path whichdefine moat surrounding te island There is yet further provided ia aocordance with sill another prefered embodiment ofthe present invention an automated computermplemented apparatus for generating commands for controling a computer unsrialcontlled machin o fabricate an object from a workpiece the appara tus inluding too path configuration engine operative for considering the coss Seton ofa desired objet to be fabe- cated fom workpiece defining isolated epionso the cross section on the workpiee surface which remot to Be emoved as lands, commencing configuring of tot pat ina region not having islands and upon the to! path encountering an island for configuring a meat tool pth which defines a moat surrounding the sland, Preferably, the configuration engine is also operative for defining a composite rpion inluding the island the moat surmunidng the snd ad regions already removed fom the ‘workpieces removed reyion and foreonfgurngatoa path to remove a remaining region of the workpiece, which remaining region does not nce the removed region. Preferably, the configuration engine is slso operative for selecting amaximum permitted engagement ange between tool and the workpiee, selecting, @ minimum permited engagement angle between the ol aad the workpiece and for onigriag the moat tol path relative othe workpiece so thatthe engagement angle gradually varies between he maxi- sum permite engagement angle and the mii peri tod engagement anal, Preferably, responsive to consideration of atleast one of characterises of the computer numerically contlled ‘ache, rotting eating tol and material ofthe workpiece the configuring also includes nizing, subjet to other constants the rate of change of he engagement angle over time, praualy changing the fed spe ofthe tool core- sponding tothe changing eogagement angle, maintaining a generally constant workload onthe tol and minimizing the costa fahvicatng the abject, wherehy the cost isa combina tion ofthe cost of operating the machine forthe duration of the fabrication and the cost ofthe wear iaficted onthe tool during he fabrication ‘Adtionally the to! paths incude a plurality of! path segmenis and coniging ot pasincludesrecuaively Gon- figuring each of th oo ath Segments, and wherein espon- sive to consideration of at east ane of characteristics ofthe computer numerically conelled machine eating eating tooland material ofthe workpiece, the configuringeacho the tool path segments also inehas minimizing, subject to thor constraints, the rate of change ofthe engagement auale over time, prualy changing the fed speed ofthe tool core- sponding to the changing engagement angle, maintaining a US 8,489,224 B2 generally constant work ladon the too, and minimizing the ‘costof machining the acho the tol path segments, whereby thecostisa combination ofthe cost of perting the machine forthe duration ofthe machining and the cost ofthe wear inflicted on the to! dusiag the machining Additionally, cach of the tool path segments inches a plurality of too path subsegments and rvursively configu ing each of the tool path segments inches ecusvely con- figwing each ofthe tool path subseamens, and wherein responsvetoconsiertion of aleastoneofchareterisies oF the computer mumeially conolled machine, rotting cut tng tool and mate ofthe workpgce the configuring each ‘ofthe tol pth subsegments lo incides minimizing, sub- {stinother constants, the ratcof change ofthe engagement ‘angle ver time, rail changing the fee sped ofthe tol ‘onesponding (0 the changing engagement agle, maintain. ing a generally constant workload onthe tol nd minimiz- ing the cost af machining the cach of the tol path subsea Ines, whereby the cost a combination of the cast of ‘operating the machine for the dation ofthe machining and thecostof the wear infictedon the tol during the mechining. “Thar is yet farther provided in accordance with sl another peered embodiment ofthe presen vention an automate! computer-

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