Haptic Assembly of CAD Models Using Virtual Constraint Guidance

2010 ◽  
Author(s):  
Loi¨c Tching ◽  
Georges Dumont ◽  
Je´roˆme Perret
Keyword(s):  
Physical Simulation ◽  
New Method ◽  
Kinematic Constraints ◽  
Assembly Task ◽  
Virtual Fixtures ◽  
Functional Step ◽  
Haptic Simulations ◽  
Cad Models ◽  
Aided Design ◽  
Assembly Tasks

In the context of virtual reality (VR) and of computed aided design (CAD), haptic simulations are used to perform assembly tasks between 3D objects. To help the user to perform the assembly of CAD objects, we propose a new method of interactive assembly that uses both kinematic constraints and virtual guiding fixtures. Modelling a haptic assembly task as a combination of mechanical joints, we focus on the guidance of objects and on the activation cues of kinematic constraints within physical simulation. In this article, we first outline the difficulties related to the haptic-assembly of CAD objects in VR simulation. Introducing the virtual constraint guidance (VCG), we present a new method for haptic guidance that decomposes a task in two independent steps: a guiding step which use geometries as virtual fixtures to position objects, and a functional step that use kinematic constraints to perform the assembly task while deactivating locally the collisions between objects. We finally present a complete application of our method on a insertion task and present our experimental results concerning the usability of our method.

scholarly journals Cognitive Interaction Analysis in Human–Robot Collaboration Using an Assembly Task

Electronics ◽  
2021 ◽  
Vol 10 (11) ◽  
pp. 1317
Author(s):  
Alejandro Chacón ◽  
Pere Ponsa ◽  
Cecilio Angulo
Keyword(s):  
Interaction Analysis ◽  
Mental Workload ◽  
Cognitive Task ◽  
Physical Work ◽  
Work Skills ◽  
Dexterous Manipulation ◽  
Assembly Task ◽  
Cognitive Interaction ◽  
Human Operators ◽  
Assembly Tasks

In human–robot collaborative assembly tasks, it is necessary to properly balance skills to maximize productivity. Human operators can contribute with their abilities in dexterous manipulation, reasoning and problem solving, but a bounded workload (cognitive, physical, and timing) should be assigned for the task. Collaborative robots can provide accurate, quick and precise physical work skills, but they have constrained cognitive interaction capacity and low dexterous ability. In this work, an experimental setup is introduced in the form of a laboratory case study in which the task performance of the human–robot team and the mental workload of the humans are analyzed for an assembly task. We demonstrate that an operator working on a main high-demanding cognitive task can also comply with a secondary task (assembly) mainly developed for a robot asking for some cognitive and dexterous human capacities producing a very low impact on the primary task. In this form, skills are well balanced, and the operator is satisfied with the working conditions.

scholarly journals An isogeometric b-rep mortar-based mapping method for non-matching grids in fluid-structure interaction

2021 ◽  
Vol 8 (1) ◽  
Author(s):  
Andreas Apostolatos ◽  
Altuğ Emiroğlu ◽  
Shahrokh Shayegan ◽  
Fabien Péan ◽  
Kai-Uwe Bletzinger ◽  
...  
Keyword(s):  
Computer Aided Design ◽  
Fluid Structure Interaction ◽  
Mapping Method ◽  
Boundary Representation ◽  
Fluid Structure ◽  
Structure Interaction ◽  
Discrete Surface ◽  
Cad Models ◽  
Volume Method ◽  
Aided Design

AbstractIn this study the isogeometric B-Rep mortar-based mapping method for geometry models stemming directly from Computer-Aided Design (CAD) is systematically augmented and applied to partitioned Fluid-Structure Interaction (FSI) simulations. Thus, the newly proposed methodology is applied to geometries described by their Boundary Representation (B-Rep) in terms of trimmed multipatch Non-Uniform Rational B-Spline (NURBS) discretizations as standard in modern CAD. The proposed isogeometric B-Rep mortar-based mapping method is herein extended for the transformation of fields between a B-Rep model and a low order discrete surface representation of the geometry which typically results when the Finite Volume Method (FVM) or the Finite Element Method (FEM) are employed. This enables the transformation of such fields as tractions and displacements along the FSI interface when Isogeometric B-Rep Analysis (IBRA) is used for the structural discretization and the FVM is used for the fluid discretization. The latter allows for diverse discretization schemes between the structural and the fluid Boundary Value Problem (BVP), taking into consideration the special properties of each BVP separately while the constraints along the FSI interface are satisfied in an iterative manner within partitioned FSI. The proposed methodology can be exploited in FSI problems with an IBRA structural discretization or to FSI problems with a standard FEM structural discretization in the frame of the Exact Coupling Layer (ECL) where the interface fields are smoothed using the underlying B-Rep parametrization, thus taking advantage of the smoothness that the NURBS basis functions offer. All new developments are systematically investigated and demonstrated by FSI problems with lightweight structures whereby the underlying geometric parametrizations are directly taken from real-world CAD models, thus extending IBRA into coupled problems of the FSI type.

scholarly journals Automatized Evaluation of Students’ CAD Models

2021 ◽  
Vol 11 (4) ◽  
pp. 145
Author(s):  
Nenad Bojcetic ◽  
Filip Valjak ◽  
Dragan Zezelj ◽  
Tomislav Martinec
Keyword(s):  
Computer Aided Design ◽  
Three Dimensional ◽  
Computer Application ◽  
Test Cases ◽  
Cad Model ◽  
Computer Solution ◽  
3D Cad ◽  
Computer Aided ◽  
Cad Models ◽  
Aided Design

The article describes an attempt to address the automatized evaluation of student three-dimensional (3D) computer-aided design (CAD) models. The driving idea was conceptualized under the restraints of the COVID pandemic, driven by the problem of evaluating a large number of student 3D CAD models. The described computer solution can be implemented using any CAD computer application that supports customization. Test cases showed that the proposed solution was valid and could be used to evaluate many students’ 3D CAD models. The computer solution can also be used to help students to better understand how to create a 3D CAD model, thereby complying with the requirements of particular teachers.

Feature Edge Extraction Via Angle-Based Edge Collapsing and Recovery

2018 ◽  
Vol 18 (2) ◽  
Author(s):  
Soji Yamakawa ◽  
Kenji Shimada
Keyword(s):  
Adverse Effects ◽  
Computer Aided Design ◽  
Region Growing ◽  
New Method ◽  
Small Radius ◽  
Edge Extraction ◽  
Line Segments ◽  
Computer Aided ◽  
Downstream Processes ◽  
Aided Design

This paper presents a new method for extracting feature edges from computer-aided design (CAD)-generated triangulations. The major advantage of this method is that it tends to extract feature edges along the centroids of the fillets rather than along the edges where fillets are connected to nonfillet surfaces. Typical industrial models include very small-radius fillets between relatively large surfaces. While some of those fillets are necessary for certain types of analyses, many of them are irrelevant for many other types of applications. Narrow fillets are unnecessary details for those applications and cause numerous problems in the downstream processes. One solution to the small-radius fillet problem is to divide the fillets along the centroid and then merge each fragment of the fillet with nonfillet surfaces. The proposed method can find such fillet centroids and can substantially reduce the adverse effects of such small-radius fillets. The method takes a triangulated geometry as input and first simplifies the model so that small-radius, or “small,” fillets are collapsed into line segments. The simplification is based on the normal errors and therefore is scale-independent. It is particularly effective for a shape that is a mix of small and large features. Then, the method creates segmentation in the simplified geometry, which is then transformed back to the original shape while maintaining the segmentation information. The groups of triangles are expanded by applying a region-growing technique to cover all triangles. The feature edges are finally extracted along the boundaries between the groups of triangles.

scholarly journals DECOMPOSITION ALGORITHM FOR TOOL PATH PLANNING FOR WIRE-ARC ADDITIVE MANUFACTURING

2018 ◽  
Vol Vol.18 (No.1) ◽  
pp. 96-107 ◽  
Author(s):  
Lam NGUYEN ◽  
Johannes BUHL ◽  
Markus BAMBACH
Keyword(s):  
Additive Manufacturing ◽  
Path Planning ◽  
Computer Aided Design ◽  
Tool Path ◽  
Heuristic Method ◽  
Support Material ◽  
Build Time ◽  
Cad Models ◽  
Aided Design ◽  
Wire Arc Additive Manufacturing

Three-axis machines are limited in the production of geometrical features in powder-bed additive manufacturing processes. In case of overhangs, support material has to be added due to the nature of the process, which causes some disadvantages. Robot-based wire-arc additive manufacturing (WAAM) is able to fabricate overhangs without adding support material. Hence, build time, waste of material, and post-processing might be reduced considerably. In order to make full use of multi-axis advantages, slicing strategies are needed. To this end, the CAD (computer-aided design) model of the part to be built is first partitioned into sub-parts, and for each sub-part, an individual build direction is identified. Path planning for these sub-parts by slicing then enables to produce the parts. This study presents a heuristic method to deal with the decomposition of CAD models and build direction identification for sub-entities. The geometric data of two adjacent slices are analyzed to construct centroidal axes. These centroidal axes are used to navigate the slicing and building processes. A case study and experiments are presented to exemplify the algorithm.

A New Family of Bricard-Derived Deployable Mechanisms

2016 ◽  
Vol 8 (3) ◽  
Author(s):  
Hailin Huang ◽  
Bing Li ◽  
Jianyang Zhu ◽  
Xiaozhi Qi
Keyword(s):  
Large Volume ◽  
Computer Aided Design ◽  
Degree Of Freedom ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
New Family ◽  
Revolute Joints ◽  
Computer Aided ◽  
Cad Models ◽  
Aided Design

This paper proposes a new family of single degree of freedom (DOF) deployable mechanisms derived from the threefold-symmetric deployable Bricard mechanism. The mobility and geometry of original threefold-symmetric deployable Bricard mechanism is first described, from the mobility characterstic of this mechanism, we show that three alternate revolute joints can be replaced by a class of single DOF deployable mechanisms without changing the single mobility characteristic of the resultant mechanisms, therefore leading to a new family of Bricard-derived deployable mechanisms. The computer-aided design (CAD) models are used to demonstrate these derived novel mechanisms. All these mechanisms can be used as the basic modules for constructing large volume deployable mechanisms.

scholarly journals Feature-based translation of CAD models with macro-parametric approach: issues of feature mapping, persistent naming, and constraint translation

2020 ◽  
Vol 7 (5) ◽  
pp. 603-614 ◽  
Author(s):  
Mutahar Safdar ◽  
Tahir Abbas Jauhar ◽  
Youngki Kim ◽  
Hanra Lee ◽  
Chiho Noh ◽  
...  
Keyword(s):  
Computer Aided Design ◽  
Parametric Approach ◽  
Model Data ◽  
Feature Mapping ◽  
Product Model ◽  
Cad Systems ◽  
Cad System ◽  
Cad Models ◽  
Feature Based ◽  
Aided Design

Abstract Feature-based translation of computer-aided design (CAD) models allows designers to preserve the modeling history as a series of modeling operations. Modeling operations or features contain information that is required to modify CAD models to create different variants. Conventional formats, including the standard for the exchange of product model data or the initial graphics exchange specification, cannot preserve design intent and only geometric models can be exchanged. As a result, it is not possible to modify these models after their exchange. Macro-parametric approach (MPA) is a method for exchanging feature-based CAD models among heterogeneous CAD systems. TransCAD, a CAD system for inter-CAD translation, is based on this approach. Translators based on MPA were implemented and tested for exchange between two commercial CAD systems. The issues found during the test rallies are reported and analyzed in this work. MPA can be further extended to remaining features and constraints for exchange between commercial CAD systems.

A Dual Environment for 3D Modeling With User-Defined Free Form Features

2007 ◽  
Author(s):  
Thomas R. Langerak ◽  
Joris S. M. Vergeest
Keyword(s):  
Computer Aided Design ◽  
Shape Representation ◽  
Target Surface ◽  
Free Form ◽  
Dynamic Feature ◽  
Cad Models ◽  
Form Features ◽  
Definition Of ◽  
High Level ◽  
Aided Design

Modeling with free form features has become the standard in Computer-Aided Design (CAD). With the increasing complexity of free form CAD models, features offer a high-level approach to modeling shapes. However, in most commercial modeling packages, only a static set of free form features is available. Researchers have tried to solve this problem by coming up with methods for user-driven free form feature definition, but failed to connect their methods to a means to instantiate these user-driven free form features on a target surface. Reversely, researchers have proposed tools for modeling with free form features, but these methods are time-intensive in that they are as of yet unsuitable for pre-defined features. This paper presents a new method for user-driven feature definition, as well as a method to instantiate these user-defined features on a target surface. We propose the concept of a dual environment, in which the definition of a feature is maintained simultaneously with its instance on a target surface, allowing the user to modify the definition of an already instantiated feature. This dual environment enables dynamic feature modeling, in which the user is able to change the definition of instantiated features on-the-fly. Furthermore, the proposed instantiation method is independent from the type of shape representation of the target surface and thereby increases the applicability of the method. The paper includes an extensive application example and discusses the results and shortcomings of the proposed methods.

Orthogonal Distance Fields Representation for Machine-Learning Based Manufacturability Analysis

2020 ◽  
Author(s):  
Aditya Balu ◽  
Sambit Ghadai ◽  
Soumik Sarkar ◽  
Adarsh Krishnamurthy
Keyword(s):  
Machine Learning ◽  
Computer Aided Design ◽  
Boundary Representation ◽  
Engineering Product ◽  
Distance Fields ◽  
Computer Aided ◽  
Cad Models ◽  
Product Design Process ◽  
3D Cnn ◽  
Aided Design

Abstract Computer-aided Design for Manufacturing (DFM) systems play an essential role in reducing the time taken for product development by providing manufacturability feedback to the designer before the manufacturing phase. Traditionally, DFM rules are hand-crafted and used to accelerate the engineering product design process by integrating manufacturability analysis during design. Recently, the feasibility of using a machine learning-based DFM tool in intelligently applying the DFM rules have been studied. These tools use a voxelized representation of the design and then use a 3D-Convolutional Neural Network (3D-CNN), to provide manufacturability feedback. Although these frameworks work effectively, there are some limitations to the voxelized representation of the design. In this paper, we introduce a new representation of the computer-aided design (CAD) model using orthogonal distance fields (ODF). We provide a GPU-accelerated algorithm to convert standard boundary representation (B-rep) CAD models into ODF representation. Using the ODF representation, we build a machine learning framework, similar to earlier approaches, to create a machine learning-based DFM system to provide manufacturability feedback. As proof of concept, we apply this framework to assess the manufacturability of drilled holes. The framework has an accuracy of more than 84% correctly classifying the manufacturable and non-manufacturable models using the new representation.

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