(1) 3-D solid model design The 3-D solid model of workpiece, workspace, coaxial nozzle, and robot was achieved using the Solid Works program. Vision
sensor is applied to detect the shape of part re-manufac- tured for obtaining its discrete topological points data. The data is used to construct part surface model by means of reverse engineering. Then, the surface model is introduced into Solid
Works system for designing part solid model.