Engineering Curves and CAGD

Engineering curves and CAGD
Rubn Dorado Vicente

Department of mechanical & mining engineering
University of Jan
III Engineering Week, Schmalkalden 2013
Contents
Computer Aided Engineering
Computer Aided Geometric Design CAGD
Mathematical model of a curve
Useful engineering curves
Bzier, B-spline and NURBS representation
Fitting: approximation and interpolation
CAGD

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Eng. curves CAD representation Fittin
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Conclusions

Idea
Concept
& Design
Analysis
Simulation
Prototype
Tests
Manufacturing
Product
Computer aided engineering
III Engineering week, Schmalkalden 2013
CAE CAx
x
,
x = process aided by computer
Design CAD based on CAGD: computational representation of shapes
Analysis + virtual prototyping CAA
ManufacturingCAM
CAGD

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Conclusions

CAE advantages
Design errors lead to high final costs
CAE reduces the need for prototyping: cost & time to take market
Delays lost sales and lock-in
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Examples of first mover advantages
Operating systems: Microsoft
1981, DOS: Unstable, unsafe, "backward compatibility

CAD software: AutoCAD
First CAD software

QWERTY keyboard
Designed to avoid a mechanical problem

Alternative combustion engine
Contamination, mechanically
complex
Source: Itedo
CAGD

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CAE: disadvantages
There are many CAD format Lost time & errors
Solution for geometry: Neutral formats like IGES, STEP
Data maintenance: Hardware + software, High costs
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Finite element analysis
Source: engineering.com
Numerical solution
of mechanical problems
Application in structural,
thermal and dynamic studies

Idea: divide and conquer
Discretization in elements
Analytical CAD models.

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Finite Element Analysis software
Software Company Analysis

ANSYS INC

Fluids, structural, thermal, dynamic.

Dassault Systemes


Siemens


Open source

Fluids, structural, thermal

Open source

Dynamic
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Computer aided manufacturing
Help to generate ISO code from CAD models
Manufacturing automatization
Control and inspection

CAD software admits CAM plugins
Example DELCAM within SolidWorks

Tool-path generation based on CAGD
An adequate tool-path can reduce time and forces.
Source: delcam.com
CAGD

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CAM software
Software Company Analysis

CATIA Mold &
Tooling Design

Dassault Systemes

Machining, mold design, plastic
injection

NX CAM 9

Siemens

Machining, inspection

DELCAM

Delcam

Machining and inspection

Blendef

Open source

Milling
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Computer Aided Geometric Design
It is a discipline dealing with computational aspects of
geometric objects G. Farin (2002)
How model engineering curves and surfaces in a computer
It became a scientific & engineering discipline in 1974
Try to reduce errors and time by the use of a pc

Main CAGD advances:
Theory of Bzier curves and B-spline techniques

Other CAGD applications:
Solid modelling, Geographic information systems, Medical
imaging, Computer gaming, Scientific visualization

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Traditional vs. computer design
CAD reduces time and cost
it allows to represent real 3D models
No material and size limitations as paper planes

Lot of different computer graphic solutions
2D-Design
Technical illustrations
Metal sheet
Solid modelling

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Design software 2D
Software Company web

AutoCAD

AutoDesk

AutoDesk.com

Corel Designer

Corel Corp.

Corel.com

PTC Creo Schematic

PTC Corp.

Ptc.com

MicroStation
Powerdraft

Bentley

Bentley.com

LibreCAD

Open source

Librecad.org
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Technical illustrations 2D & 3D
Software Company web
Adobe Illustrator Adobe adobe.com
Corel Draw Corel Corp. Corel.com
PTC Creo Illustrate PTC Corp. Ptc.com
InkScape Open source inkscape.org
Source: Ptc corp.
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Surface & Solid Modelling
Software Application Company web
RhinoCeros NURBS curves & surfaces Robert McNeel
& Associates
rhino3D.com
SolidWorks, Catia Surfaces & Solid Modelling Dassault Systemes 3ds.com
Creo Elements Surfaces & Solid Modelling PTC Corp. Ptc.com
FreeCAD Solid Modelling Open source freecadweb.org
Source: linuxaideddesign.
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Curve models
Curve: A continuous map from one dimension to n-dimension
space.

They have useful applications:
CAD Modelling uses:
Define contours of orthographic projections
Define wireframe models in CAD: rotations and translations of
a curve profile generate revolution and swept surfaces.

Engineering curves: conics, Cycloid, Spirals, Helix & so on

Scientific visualization via approximation or interpolation
Source: wikimedia
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Single valued curves
Definition: Graphic of a function
a vertical line cuts the curve once
Examples:
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Single valued curves: Problems
This representation is not valid after a rotation

Simple and useful curves are not single valued
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Parametric curves
Definition:
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Parametric curves
Advantages:
Solve the aforementioned drawbacks of single valued curves
Single valued (case x=t) parametric curve
Simple modelling and visualization:
1. give values (t) points c(t)
2. Join c(t) (linear segments)
Computer graphic cards draw 100 Msegments / s
Disadvantages:
It is complicated to define areas
Therefore it is difficult to distinguish inside and outside
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Polynomial parametric curves
c(t) {x(t),y(t)}, x(t), y(t) are degree n polynomials.
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Rational parametric curves
c(t) {x(t),y(t)}, x(t), y(t) are degree n rational functions.
c(t)
p(t)
w(t)
,
q(t)
w(t)
, p(t), q(t), w(t) are degree n polynomials.

Advantages of Polynomial-Rational Parametric Curves
Extremely fast point evaluation:
Additions, products (and division for rational)
Operations implemented within microprocessor
GFLOPS (G Floating Point Operations per Second)
Parametric Rational Polynomial
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Rational para. curves: Examples
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Implicit curves
Those plane curves / f(x,y)=0
Algebraic curves f is a degree n polynomial

Advantages: inside-outside classification.
Disadvantages:
It is difficult to model free form curves.
It is also complex to extend this representation to 3D.
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Definition: non algebraic curves
Main drawback: they do not admit an exact computer
representation
Polynomial-rational parametric curves standard CAD
representation
Solution: polynomial-rational fitting
Detection: intersection between a line and a transcendental
curve infinite points
Examples: Logarithmic and Archimedes spiral, helix, catenary

Transcendental curves
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Complex shapes Piecewise parametric curves

Spline curves
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Spline continuity type.
Mechanical applications: G
0
or G
1
tool paths (conventional
machines), G
2
vehicles and High speed machining

Geometric continuity G
r
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Evaluation via Curvature k(s), s=Arc length parameterization

Quality assessment

Smooth curve if k(s) :
is a continuous function
has few and monotonic segments
ends at specified points
CAE CAGD

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CAD representation Fittin
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Conclusions

Engineering curves
We have two main types of Engineering curves:

Curves with CAD representation:
Polynomial and rational
Applications Design

Curves without CAD representation:
Transcendental curves (examples in the following slides)
CAD incorporation via interpolation or approximation
Lot of engineering applications

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Engineering curves: Trochoids
Curve described by a fixed point as a circle rolls
outside a circle (Epitrochoid)
inside a circle (Hypotrochoid)
They admit a rational representation

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Trochoids applications
Design of roots blower rotors.
They handles large quantities of air at a small pressure diff.
Wankel engine: few vibration & mechanical stress at high rpm
Design of gear tooth profiles
Rotary blower
Mazdas Wankel engine
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Catenary
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Clothoid spiral
Curvature is proportional to distance.
Parameterization: Fresnel integrals (Transcendental curve)

Application: road design, roller coasters
Speed = Constant

c(t)
C(t)
S(t)
,
C(t) cos(

2

2
) dz
0
t
S(t) sin(

2

2
) dz
0
t
.
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Involute or evolvent
Definition: Path follow by the end of a string which is wound
tangent to a profile.
It is a transcendental curve.
Application: design of gear teeth
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Offset
Definition: parallel curve c
d
(t)

In general, it is a non polynomial/rational curve
c
d
(t) c(t) t dn(t),
n(t) normal
+ up, - down
.
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Offset: Applications
Tool path and road design
Cam design
CAE CAGD

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Offset: representation problems
Self-intersections
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Standard CAD representation
We can incorporate polynomial curves into
CAD but there are different ways to describe a
polynomial.

Our first choice is the monomial basis, but is it
the best representation for CAD?
Next slides try to answer this question

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Monomial basis
Definition: A way to describe a polynomial using a linear
combination of monomials

Main advantages:
Simple algebraic manipulation: additions, products,
derivation
OK to approximate functions around a point (Taylor, t = 0)
Efficient computing algorithm (Horner)
Everybody learned this representation in high school


Monomialbasis: 1,t,t
2
,...,t
n
{ }
,
Polynomialrepresentation: a(t) a
i
t
i
i0
n
.
CAE CAGD

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Monomial basis
Disadvantages:
Coefficients have not geometric meaning
Poor numerical properties: small errors in a
i
gaps
Gaps and non geometric meaning are unacceptable for CAD
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Bzier curves
Provide a polynomial representation:
where coefficients have geometric meaning Control
points
without numerical problems no gaps
End control points = curve end points.
CAE CAGD

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Examples of Bzier curves
CAE CAGD

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Bernstein polynomials
Definition:

Bzier: combination of control pts via Bernstein polynomials

b
i
Control points
effect of b
i
in the curve shape.
b
i
pulls the curve
(u=i/n Maximum )
B
i
n
(u)
n
i
1 u
( )
n i
u
i
.

b(u) b
i
B
i
n
(u)
i0
n
.
B
i
n
(u)
B
i
n
(u)
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Bzier curves: geometric properties
Affine invariance. Reposition-scale-rotation so on
transformation of control points

Other Application
Typography:
S
S
S
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End point interpolation. The curve pass through the end control
points no gaps

Linear precision. If bi are aligned line

Convex hull property. B(t) lies in the convex hull of the control
polygon. Application: Interference checking.

Operations like integration and derivation via additions,
products and divisions of control points

Good numerical properties

Bzier curves: geometric properties
CAE CAGD

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Bzier curves: smoothness conditions
CAE CAGD

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Bzier curve: Derivation
CAE CAGD

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Bzier curves: Integration
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Design Example: cam profile
Hypothesis. Constant angular speed

Conditions:
Constraint forces y() is C
1
Avoid jerk y() is C
2

cte
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Rational Bzier curves
Several conic curves (ellipse, circle, hyperbola) can not be
represented by means of a polynomial Bzier curve.
Solution: Rational Bzier curve a perspective transformation

CAE CAGD

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Rational Bzier curves
Effect of control points reposition Effect of weight modification

CAE CAGD

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Conic construction via Rational Bzier curves
Conic arc
Centre (circle), focus: C
Angle 2
Weights: w
0
w
2
1,w
1
w
1

[0,1] Ellipse (w
2
cos( ), Circle)
1Parabola
[1,] Hyperbola
CAE CAGD

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Conics applications
Source: Alternative-energy-tutorials.com
Source: radartutorial.eu
CAE CAGD

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B-spline curves
Definition: Spline of Bzier curves same Bzier properties
Application curves with complex shape

d(u) d
i
N
i
n
(u)
i 0
n
. N
i
n
(u) piecewisebasis
CAE CAGD

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B-spline versus Bzier
Bzier B-spline
Design
Pseudo local shape
control
Local control
Continuity
guarantee
Complex Simple (polynomial degree - 1)
Evaluation cost
N control points increase
computational cost
It doesnt depend on number
of control points
Implementation Straightforward Complex
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Example: Degree n=3 B-spline
Continuity n-1=2
Number of control points p=7
9 knots, Number of pieces m m=p-n=4

CAE CAGD

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NURBS: Non uniform rational B-spline
Definition: Spline of Rational Bzier curves with a non uniform
knot sequence.

CAE CAGD

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Conclusions

Fitting
Definition: Construction of a NURBS that approximates a non
polynomial-rational curve
Main fitting techniques:
Approximation. NURBS passes close to a set of points
Interpolation. NURBS satisfies a set of conditions
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Lagrange Interpolation
Lagrange interpolation: the interpolation curve passes
through an uniformly distributed set of points
Drawbacks:
Runges phenomenon
New data re-compute
Original curve
Degree 4 Lagrange Interpolation
Degree 8 Lagrange Interpolation
Source: wikipedia
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Hermite Interpolation
Definition: the interpolation curve passes through an non uniformly
distributed set of points data: end points and their derivate
Applications:
Approximation of boundary problems
Useful to control continuity
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Approximation
The construction passes close to a set of data.
Complex implementation: iterative algorithm.
Basic approximation technique: Least squared method.

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CAGD decrease design errors & contribute to
reduce the time to take the market.
CAGD is devoted to Engineering design via curves
and surfaces.
There are different types of curve representations
Bzier B-Spline NURBS is the CAD standard
Advantages: local shape control, fast evaluation and
straightforward implementation of different
operations
To incorporate transcendental curves
Interpolation or approximation (fitting)

Engineering Curves and CAGD

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Engineering curves and CAGD

Rubn Dorado Vicente

, p(t), q(t), w(t) are degree n polynomials.

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