One-Deminsion Flexible Parts Virtual Assembly With Haptic Feedback

Virtual Assembly is a critical technology in the field of manufacture and digital design. It plays an important role in the application of improving the quality and efficiency of assemble checking and assembly sequence planning of mechanical production, and training staff to assemble operation in advance. In this thesis, we do research on haptic rendering and feedback of 1D flexible part's virtual assembly.In the first chapter, we introduce the background of our issues, including virtual assembly, modeling of flexible parts, haptic rendering and feedback. Then, we propose our research aim and provide a short summary of the thesis.In the second chapter, we propose an approach of haptic rendering based on physical deformation of 1D flexible part, aiming at the requirement of haptic feedback under virtual assembly operation. Firstly, we introduce a flexible physical deformation model based on dynamic spline. Then according to the model, we build an algorithm of haptic rendering, and acquire the forces of flexible part's deformation needed.In the third chapter, propose the operation methods of dexterous hand based virtual assembly with haptic feedback. Firstly, we build the geometric and mechanic model of dexterous hand, and 1D flexible part grasp identification method based on collision detection. Then, convert the force of 1D flexible part's deformation needed to general grasp force of dexterous hand. At last, we solve the inconsistency between dexterous hand movement and 1D flexible part's deformation under virtual assembly operation.Based on these methods above mentioned, a one-dimension flexible part virtual assembly prototype system is developed. And we present the detail of implement and application cases.At last, the conclusion and future work are proposed.