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5 posts

Cycloidal Toolpath Planning for Robotic Sandblasting

August 5, 2026

Today, Efecan and I attached the sandblasting device to the robotic arm. The device sprays a special sandblasting material onto surfaces using air pressure. Thus, it is used for cleaning moldy and dirty surfaces in buildings under restoration. Under normal conditions, the sandblasting gun is controlled manually. If the cleaning is too light, it remains insufficient, but it shouldn’t be so intense as to erode the stone either. Normally, the operator performs this control visually. Here, the potential uses for…

Spherical Cycloid

April 2, 2024

Today’s beautiful curve is the spherical cycloid. It is a cycloid, rolling on a 3d circular path rather than a straight and 2d one. There are algebraic explanations of this curve. Therefore, I find it interesting to experiment with them, since it is more interesting than the regular planar cycloids, epicycloids, and hypocycloids. This curve is believed to have been studied first by Jean Bernoulli in 1732. The interesting and playful part of this is the resulting curve is always…

Graph of Parametric Functions

April 6, 2018

This RhinoPython script handles the simple graphs of two-dimensional parametric functions. Therefore, it approximates these functions by drawing parametric curves. It generates many points by solving the functions. The graph of parametric functions is a major topic in most Design Mathematics courses. Because it looks like the building block of many concepts of CAD. However, there is much more to learn before saying that the third degree NURBS is a degree-3 polynomial function. I am curious about learning the underlying…

Cycloid Curves with Rhino Python

August 7, 2017

Studied earlier in Grasshopper here, creating a cycloid-like curve actually mimics the physical process of rotating disks on a path. Below is a test in Rhino Python (I know the variable names are not conventional).

Cycloid Experiment

May 9, 2014

This is a Cycloid-like family of curves, generated by its classical description: a rolling circle. I had several other studies on similar topics before. In this cycloid experiment, I used Grasshopper in which, we don’t need to roll the circle. Instead, we can divide a parametric curve, utilizing data lists to simply rotate a circle around it. Finally, evaluating the circle repeatedly creates a Cycloid-like result. I found this as the most simplistic way of showing and studying these special…

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