Virtual Mechanical Assembly on a PC-Based System

1996 ◽  
Author(s):  
E. Pere ◽  
N. Langrana ◽  
D. Gomez ◽  
G. Burdea
Keyword(s):  
Virtual Reality ◽  
Mechanical Behavior ◽  
Collision Detection ◽  
Force Feedback ◽  
Object Manipulation ◽  
Virtual Reality System ◽  
Mechanical Assembly ◽  
Training Task ◽  
Virtual Tools ◽  
Assembly Tasks

Abstract This paper describes a virtual reality system in which the user can perform assembly tasks in a simulated workshop. This PC-based VR system integrates a force feedback device, the Rutgers Master II. It allows the user to feel the interaction with virtual tools and makes the training task in a synthetic environment closer to reality. The application also allows object manipulation with mechanical behavior, navigation, collision detection and other features.

Research on Machining Virtual Reality System

2013 ◽  
Vol 546 ◽  
pp. 70-75
Author(s):  
Q.N. Hu ◽  
D.J. Feng ◽  
H. Shu ◽  
H.Z. Dai ◽  
J.L. Wu
Keyword(s):  
Virtual Reality ◽  
Operating Procedure ◽  
Collision Detection ◽  
Optimization Method ◽  
Machining Process ◽  
Virtual Reality System ◽  
Virtual Machining ◽  
Modular Programming ◽  
Experimental Instruction ◽  
Virtual Worker

A machining virtual reality system is established by studying the operating procedure of machining. The modeling and optimization method of scene model is put forward. Two different roaming ways, that is the automatic roaming path and the free roaming path, are designed. The process of machine and the operation of virtual worker are simulated based on the technique of modular programming and collision detection in Virtools, enhancing the sense of immersion and reality of the virtual machining process. The system provides a new method for machining experimental instruction.

Research on the Collision Detection Technology of Coal-Cutting Machinery in Remote Virtual Control

2015 ◽  
Vol 738-739 ◽  
pp. 863-866 ◽  
Author(s):  
Ai Ling Qi ◽  
Huan Wang ◽  
Hai Yan Wu ◽  
Hong Wei Ma
Keyword(s):  
Virtual Reality ◽  
Collision Detection ◽  
Detection Algorithm ◽  
Virtual Reality System ◽  
Virtual Scene ◽  
Bounding Volumes ◽  
Virtual Control ◽  
Coal Cutting ◽  
Detection Technology ◽  
Mine Automation

On account of the dangerousness of coal mining, the remote virtual control of coal-cutting machinery is the development direction of coal mine automation, and collision detection is a crucial technology of virtual reality system. In order to solve the problems about through the wall during virtual scene walkthrough in virtual control of coal-cutting machinery, this paper has researched collision detection algorithm, according to the characteristics of coalface and virtual reality system scene, taking advantage of hierarchical bounding volumes algorithm to solve the collision detection problems of coalface in virtual reality system. And it has compiled the algorithm by applying SDK of Quest3D software. Research results show that, realization of the collision detection algorithm has solved scene roaming simulation degree and the speed of the system in coalface virtual scene walkthrough.

scholarly journals BREP Identification During Voxel-Based Collision Detection for Haptic Manual Assembly

2011 ◽  
Author(s):  
Daniela Faas ◽  
Judy M. Vance
Keyword(s):  
Collision Detection ◽  
Force Feedback ◽  
Boundary Representation ◽  
Small Subset ◽  
Manual Assembly ◽  
Assembly Simulation ◽  
Geometric Boundary ◽  
Novel Method ◽  
Constraint Enforcement ◽  
Assembly Tasks

This paper presents a novel method to tie geometric boundary representation (BREP) to voxel-based collision detection for use in haptic manual assembly simulation. Virtual Reality, in particular haptics, has been applied with promising results to improve preliminary product design, assembly prototyping and maintenance operations. However, current methodologies do not provide support for low clearance assembly tasks, reducing the applicability of haptics to a small subset of potential situations. This paper discusses a new approach, which combines highly accurate CAD geometry (boundary representation) with voxel models to support a hybrid method involving both geometric constraint enforcement and voxel-based collision detection to provide stable haptic force feedback. With the methods presented here, BREP data can be accessed during voxel-based collision detection. This information can be used for constraint recognition and lead to constraint-guidance during the assembly process.

Expanding Haptic Workspace for Coupled-Object Manipulation

2011 ◽  
Author(s):  
Ryan A. Pavlik ◽  
Judy M. Vance
Keyword(s):  
Virtual Environments ◽  
Collision Detection ◽  
Rate Control ◽  
Force Feedback ◽  
Position Control ◽  
Object Manipulation ◽  
Restoring Force ◽  
End Effector ◽  
Control Scheme ◽  
Bubble Interaction

Haptic force-feedback offers a valuable cue in exploration and manipulation of virtual environments. However, grounding of many commercial kinesthetic haptic devices limits the workspace accessible using a purely position-control scheme. The bubble technique has been recently presented as a method for expanding the user’s haptic workspace. The bubble technique is a hybrid position-rate control system in which a volume, or “bubble,” is defined entirely within the physical workspace of the haptic device. When the device’s end effector is within this bubble, interaction is through position control. When exiting this volume, an elastic restoring force is rendered, and a rate is applied that moves the virtual accessible workspace. Existing work on the bubble technique focuses on point-based touching tasks. When the bubble technique is applied to simulations where the user is grasping virtual objects with part-part collision detection, unforeseen interaction problems surface. This paper discusses three details of the user experience of coupled-object manipulation with the bubble technique. A few preliminary methods of addressing these interaction challenges are introduced.

Force Feedback Control of Manipulator Fine Motions

1977 ◽  
Vol 99 (2) ◽  
pp. 91-97 ◽  
Author(s):  
Daniel E. Whitney
Keyword(s):  
Force Feedback ◽  
Control Problems ◽  
Sampled Data ◽  
Test Apparatus ◽  
Formal Representation ◽  
Mechanical Assembly ◽  
Position Information ◽  
Data Control ◽  
Feedback Strategies ◽  
Assembly Tasks

The automation of mechanical assembly requires analysis of both force and position information in order to monitor, guide, and guarantee the success of assembly tasks. This information may be obtained by force and position sensors on the assembly device, and used to make small corrections in the paths of parts while they are in contact and coming together. Two issues are involved: what path corrections to make, and how to make them in a stable dynamic fashion, given that such motions will alter the subsequent information. This paper presents a formal representation of vector force feedback strategies and shows that they must be expressed as control problems. Stability bounds are derived based on simple linear actuator models and sampled data control. These bounds are verified using computer simulation and laboratory test apparatus.

A Desktop Networked Haptic VR Interface for Mechanical Assembly

2005 ◽  
Author(s):  
Abhishek Seth ◽  
Hai-Jun Su ◽  
Judy M. Vance
Keyword(s):  
Design Process ◽  
Computer Aided Design ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Mechanical Assembly ◽  
Geographically Dispersed ◽  
Product Design Process ◽  
Costly Product ◽  
Network Channel ◽  
Assembly Tasks

This paper presents the development of a PC-based 3D human computer interface for virtual assembly applications. This system is capable of importing complex CAD (Computer Aided Design) models, rendering them in stereo, and implementing haptic force feedback for realistic part interaction in virtual environments. Such an application will facilitate wider acceptance of the use of a VR interface for prototyping assembly tasks. This interface provides both visual and haptic feedback to the user, while allowing assembly tasks to be performed on a desktop virtual environment. The network module has the ability to communicate with multiple VR systems (such as CAVE etc.) at geographically dispersed locations using a non-dedicated network channel. The potential benefits of such a system include identification of assembly issues early in the design process where changes can be made easily, resulting in a more efficient and less costly product design process.

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