Modelangelo: a subtractive 5-axis robotic arm for rapid prototyping

The user provides a 3D CAD model of the object to be sculpted. ModelAngeloSoftware generates layered contoured slices at predetermined incremental steps. It builds up a data file that contains the corresponding cutting tool radial, angular, elevation and rotational positions of the modeled work. Then ModelAngeloPortMessenger feeds the computer parallel port with consecutive commands that are read by ModelAngeloController. Consequently, ModelAngeloReadNFeed performs the commands and sends feedback signals to the processor. The actuators then place the tool tip and the workpiece in their respective cutting positions via ModelAngeloMechanisms, which puts the model and the tip tool in the cutting position, where ModelAngeloTipTool cutting-by-heat role starts.