A Virtual Prototyping System For Rapid Product Development: S.H. Choi, A.M.M. Chan
A Virtual Prototyping System For Rapid Product Development: S.H. Choi, A.M.M. Chan
www.elsevier.com/locate/cad
Abstract
This paper describes a virtual prototyping (VP) system that integrates virtual reality with rapid prototyping (RP) to create virtual or digital
prototypes to facilitate product development. The proposed VP system incorporates two new simulation methodologies, namely the
dexel-based and the layer-based fabrication approaches, to simulate the powder-based and the laminated sheet-based RP processes,
respectively. The dexel-based approach deposits arrays of solid strips to form a layer, while the layer-based approach directly forms a
complete layer by extruding the slice contours. The layer is subsequently stacked up to fabricate a virtual prototype. The simulation
approaches resemble the physical fabrication processes of most RP systems, and are therefore capable of accurately representing the
geometrical characteristics of prototypes. In addition to numerical quantification of the simulation results, the system also provides
stereoscopic visualisation of the product design and its prototype for detailed analyses. Indeed, the original product design may be
superimposed on its virtual prototype, so that areas with dimensional errors beyond design limits may be clearly highlighted to facilitate
point-to-point analysis of the surface texture and the dimensional accuracy of the prototype. Hence, the key control parameters of an RP
process, such as part orientation, layer thickness and hatch space, may be effectively tuned up for optimal fabrication of physical prototypes
in subsequent product development. Furthermore, the virtual prototypes can be transmitted via the Internet to customers to facilitate global
manufacturing. As a result, both the lead-time and the product development costs can be significantly reduced.
q 2003 Elsevier Ltd. All rights reserved.
Keywords: Virtual prototyping; Visualisation; Dexel-based and layer-based simulation
* Corresponding author. Tel.: 852-2859-7054; fax: 852-2858-6535. Virtual prototyping (VP) may alleviate the shortcomings
E-mail address: [email protected] (S.H. Choi). of RP. It makes use of a digital model called a virtual
0010-4485/$ - see front matter q 2003 Elsevier Ltd. All rights reserved.
doi:10.1016/S0010-4485(03)00110-6
402 S.H. Choi, A.M.M. Chan / Computer-Aided Design 36 (2004) 401412
prototype, in lieu of a physical prototype, for testing and communication of designs and ideas. An IT manager of a
evaluation of specific characteristics of a product or a car company applied this concept to development of new
manufacturing process in a computational environment. cars [11]. A car model is built virtually and projected on a
Therefore, in virtual prototyping, faults concerning large screen, and people from different departments may
fabrications, product design and production planning can conveniently share a true 3D image of the car by wearing
be detected in a compressed time frame before great stereo glasses to evaluate the design and to identify
expenditures are committed. This significantly reduces the problems before getting too far down the production.
number of physical iterations and thereby the associated Tseng et al. combined VP with design to explore the
manufacturing overheads that leads to faster and cost- customer perception on the target products [12]. The VR
effective product development. Once the virtual prototyping technology allows the customer to be immersed in the
is finished, the model may be sent directly to physical virtual environment for detailed design visualisation and
fabrication or via the Internet to customers to solicit modification. The virtual prototype is then put in
comments. Since digital models are mostly used in VP, simulations to find out an optimal assembly process.
the cost incurred in repeating the process to optimise Chuang and OGrady worked on visualisation of assembly
prototype quality is minimal. process to provide the designer with the parts interaction in
Dedicated VP systems have been successfully developed assembly operations and at the same time, to track the paths
and used in automobile and aerospace industries. for subsequent assembly [13]. The design for assembly
These systems can be classified into two areas, namely process may thus be improved by expressing the results
product design and process simulation. For product design, fully and naturally in a visual manner, rather than in
various analyses regarding design validation, such as abstractive numerical figures.
functional testing, form-and-fit testing, ergonomic testing, The strength of visualisation has been explored and
assembly testing and disassembly testing, are performed on applied successfully in many VP systems. However, little
a model in the virtual environment. Bennett presented how research work has been done to date on using the technique
VP could assist the different stages of product development to study and enhance the quality of prototypes before
of complex aerospace products [3]. Rooks described the use physical fabrication. Indeed, VP provides a test-bed and
of digital mock-ups for finding out possible errors much valuable information that may otherwise have
concerning product assembly in the early design stage [4]. required time-consuming and expensive physical exper-
Jayaram et al. carried out virtual assembly in VR [5]. imentation. Furthermore, it provides results in a natural way
The parts were firstly designed in a CAD system and that allows the designer to make corrective actions.
subsequently assembled in a virtual environment. Siddique This paper therefore proposes a new virtual prototyping
and Rosen suggested using VP to generate complete system that exploits visualisation to facilitate product
disassembly processes of a product design [6]. development. It is based on the mathematical model
For process simulation, a manufacturing process is developed by the authors for modelling and optimisation
simulated in a computer to determine possible of rapid prototyping [14]. The model incorporates various
manufacturing problems or bottlenecks in production such process parameters like layer thickness, hatch space,
that expensive physical mock-ups can be saved. bed temperature, laser power and sinter factor, etc. to
Schulz applied VR technique to simulate the forming quantify the measures of prototype quality, which include
process of stamping products in order to study the residual accuracy and build-time. The proposed system simulates an
stress and material distribution [7]. Bowyer et al. developed RP process to create a virtual prototype with quantified
a virtual milling machine that could cut a virtual block to measures of prototype quality for assessment of the RP
produce a part with the desired shape by a virtual tool [8]. process. To exploit visualisation to facilitate product
Bickel developed a virtual welding cell for precise weld development, the virtual prototype may be superimposed
path generation for die re-forging [9]. on the original model to provide a clear visualisation for
Apart from manufacturing, VP has also had a profound direct comparison of the product design and the resultant
impact on the medical field. It was used in training, surgical prototype that the RP machine will subsequently deliver.
planning, and creation of digital human organs [10]. Virtual The superimposition allows a designer to perform validation
organs were created according to the patients data for of the product design and analyses of the dimensional
subsequent simulations. During surgical education, accuracy conveniently. This is particularly useful in that
students could fly inside and around the organs, which the designer can conveniently analyse and compare the
responded like real ones to operations. They could thus surface texture and the dimensional accuracy point-by-point
practise surgeries and other medical procedures. of the prototype with the product design. Specific areas of
the prototype where the dimensional deviations are beyond
1.3. A new approach to virtual prototyping the design limits can be easily identified and highlighted
for subsequent improvement. With such a virtual prototype
Visualisation has been recognised as an effective way in the computer, the product design can be scrutinised
to present real scenarios that facilitate effective easily, and its aesthetic and functional characteristics
S.H. Choi, A.M.M. Chan / Computer-Aided Design 36 (2004) 401412 403
Virtual prototypes may represent the physical ones The proposed VP system facilitates design validation
accurately. They facilitate design validation in the early through visualisation of the RP process and the resultant
stage of product development as the designer can have a prototypes. Visualisation also helps the designer understand
clear representation of the product to examine its aesthetic what will possibly happen to a particular part of the
and structural features. If any problems are identified, prototype. It is not common that all features of the model are
the design can be promptly improved before it goes too far required for a specific analysis [19]. Indeed, numerical
down the development cycle. This is particularly important values indicate only the overall average quality of a
to help enhance the competitiveness of the manufacturing prototype. On the other hand, a clear visualisation facilitates
industry, which is faced with increasing pressure to satisfy detailed assessment of specific parts of the prototype.
demands for small-batch production of different varieties of
customised products. In such situations, it would not be
economical to make a mould for small-batch production. 2.4.1. Superimposition of product model
On the other hand, rapid prototyping may be a convenient on virtual prototype
tool for direct production of customised products, provided
it can fabricate prototypes of the required accuracy and of For this purpose, the proposed VP system can display a
appropriate materials. Indeed, some researchers [17,18] virtual prototype and the product model simultaneously.
recognised the significance and they have worked on the These two images are superimposed for direct comparison
techniques to produce metallic or functional prototypes. It is of the resultant prototype with the original design.
envisaged that when RP becomes economical for direct This allows point-by-point investigation of any discrepancy
manufacture of customised products, it will be of profound in the characteristics of the prototype and the product
importance to validate the accuracy and quality of the design. For example, the surface texture of the prototype can
prototypes before committing to physical fabrication. be easily studied, and specific areas with dimensional errors
Hence, the significance of the proposed VP system will be beyond tolerance limits may be clearly identified and
further highlighted. highlighted for subsequent improvement.
S.H. Choi, A.M.M. Chan / Computer-Aided Design 36 (2004) 401412 405
5.1. Prototypes fabricated by the dexel-based simulation 0.2 mm while keeping all the other values constant. It was
observed that the increase in the layer thickness changed the
5.1.1. A turbine fan surface accuracy from 0.033 to 0.049 mm, while the build-
To demonstrate the use of the system for optimisation of time was reduced from 0.71 to 0.51 h. This was expected
RP process parameters, fabrication of a turbine fan on a since the number of layers was reduced from 127 to 84.
Sinterstation 2000 SLS machine with nylon was simulated, Despite the fact that the scan-distance per layer was not
and the result is shown in Fig. 6. The laser diameter was changed, the total laser scan-time was reduced because
0.04 mm, while the hatch space and the layer thickness were the number of layers scanned was reduced. It was also found
both set as 0.1 mm. The turbine fan has different features that increasing the hatch space to 0.2 mm did not affect the
like a hollow cylinder and several freeform surfaces around surface accuracy. However, the build-time was reduced from
it. Depending on the distribution of the facets, the surface 0.71 to 0.60 h, when the hatch space was increased from 0.1
accuracy and build-time could be different for different to 0.2 mm.
orientations.
Fig. 6 also indicates the surface accuracy, build-time, and 5.1.2. A spider
the number of layers when the part was rotated about the A toy spider was chosen to demonstrate the study of the
x-axis. The surface accuracy was mainly dependent on the dimensional deviations of a prototype from its STL model,
cosine of the angle between the facet normal and the build- and the normal (un-offset) slicing approach was used to slice
direction. Thus, it was only necessary to rotate the part the model. Fig. 7a shows two spiders, one of which was a
between 0 and 908. The part at orientation of 08 gave the STL model and the other a virtual prototype. Without the
minimum build-time of 0.71 h and the surface accuracy of VP system, it would be difficult to study the dimensional
0.033 mm. The possibilities of reducing the build-time while deviations even if a real prototype was available. However,
achieving the best surface accuracy possible at this when they were superimposed in a virtual environment, as
orientation were thus further considered. Simulations were shown in Fig. 7b, the surface texture and the dimensional
also performed to reduce the build-time by increasing deviations were clearly illustrated. The prisms indicated the
the layer thickness to 0.15 mm and the hatch space to excessive materials in fabrication, which were located
mainly at the upper part of the model. This was because the The system also calculated the cusp heights to
layers were normally formed on the sliced planes during evaluate the overall accuracy of the prototype. In this
physical fabrication. When the surface converged in the case, the average and the maximum cusp heights were
upward direction, such as the body of the spider, there were 0.601 and 1.278 mm, respectively. Suppose that any
excessive materials at the edges of each layer. This shows deviations more than 1.270 mm were not acceptable, the
the phenomena that most RP machines cannot produce a designer might choose to highlight the areas which are
regular sphere, which generally becomes a little oval. out of the design limit for subsequent investigation of
Through this simple case study, the strength of visualisation these important features. Fig. 8 shows the same spiders
is explored. with some pins on them. The pins indicated the facets
Fig. 9. Comparison of spider prototypes of different layer thickness and hatch spacing.
of the STL model with cusp heights more than Visualisation of the virtual prototype would therefore be
1.270 mm. The colour of the pins may be red or green. helpful for doctors to choose a prosthesis that would best
The red ones pointed to the maximum deviations, fit to minimise the possibility of mismatch. Fig. 11a
while the green ones pointed to the unacceptable shows two virtual hands superimposed on each other.
deviations. The process parameters may be deemed The model was sliced with the offset approach and the
acceptable, unless unsatisfactory deviations were located excessive materials were thus evenly distributed. Its
at important parts of the model, in which case the average and maximum cusp heights were 0.946 and
designer might choose either to change the model 1.866 mm, respectively. Fig. 11b highlights the
orientation to shift the deviations or to reduce the layer deviations that exceeded 1.854 mm.
thickness and the hatch space to improve the cusp Although there appeared many unacceptable deviations,
heights. Fig. 9 shows a comparison of the two virtual the highlighted deviations actually represented a very small
prototypes of different layer thickness and hatch space. portion of the total 110,000 facets of the hand model.
Although 0.02 mm thickness and 0.05 mm hatch space Moreover, most of the deviations were located at the back of
gave a finer prototype as in Fig. 9b, such process the hand, whilst the main concern of the surgery was the
parameters may not be practical for most SLS processes. fourth finger. Therefore, this prototype may be deemed good
enough and physical fabrication can be carried out using
5.2. Prototypes fabricated by the layer-based simulation these process parameters. In general, it is not necessary to
aim at producing a prefect prototype. Instead, an optimal
prototype with good accuracy at selected areas will be more
5.2.1. A hand skeleton
practical and economical.
Applications of RP in the medical field for making
prototypes of human skeletons and organs have become
widespread in the past decade. A hand skeleton, as shown in
Fig. 10, was thus chosen to illustrate possible applications of 6. Limitations and further development
the VP system in the medical field.
In a surgery, for example, a patients hand was A major limitation of the current system is that it does not
scanned to produce a prototype for doctors to study incorporate shrinkage and warpage effects to enhance
injury or deformity more clearly. Suppose a prosthesis accuracy estimation. In fact, for RP processes that employ
was to be put into the fourth finger of the patients hand. heat energy to solidify/sinter the material, the subsequent
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S.H. Choi is associate professor in the IMSE
development. Integrated Manufact Syst 1988;9(6):33443.
Department at the University of Hong Kong.
[13] Chuang WC, OGrady P. Assembly process visualisation in
He obtained both his BSc and PhD degrees at
feature-based design for assembly. Int J Agile Mgmt Syst 1999;
the University of Birmingham. He worked in
1(3):17789. computer industry as CADCAM consultant
[14] Choi SH, Samavedam S. Modelling and optimisation of rapid before joining the University of Hong Kong.
prototyping. Comput Ind 2002;47(1):3953. His current research interests include CAD-
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20(4):1520. virtual prototyping technology.
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critical analysis. Int J Adv Manufact Technol 1995;10:14957. A.M.M. Chan got her BEng degree from the
[17] Greul M, Pintat T, Greulich M. Rapid prototyping of functional IMSE Department at the University of Hong
metallic parts. Comput Ind 1995;28:23 8. Kong. She continued her postgraduate
[18] Jeng JY, Peng SC, Chou CJ. Metal rapid prototype fabrication using research study in the Department, and her
selective laser cladding technology. Int J Adv Manufact Technol research interest is in virtual prototyping
2000;16(9):6817. technology.
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[20] Choi SH, Kwok KT. Hierarchical slice contours for layered-
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