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TECHNICAL PAPERS

Flexible Beam Part Manipulation for Assembly Operation Simulation in a Virtual Reality Environment

[+] Author and Article Information
A. Mikchevitch, J.-C. Léon

Applied Mechanics Laboratory, Soils, Solids, Structures Laboratory, INPG Domaine Universitaire BP 53X, Grenoble 38041 Cedex 9 France

A. Gouskov

Applied Mechanics Laboratory, Bauman Moscow State Technical University, 2-d Baumanskaya, 5, Moscow 105005 Russiae-mail: gouskov@rk5.bmstu.ru

J. Comput. Inf. Sci. Eng 4(2), 114-123 (May 28, 2004) (10 pages) doi:10.1115/1.1736687 History: Received June 01, 2003; Revised March 01, 2004; Online May 28, 2004
Copyright © 2004 by ASME
Topics: Force , Simulation , Space , Shapes
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References

Figures

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Simultaneous search of a “system answer” in the configuration and force spaces: (a): manipulation in the configuration space (x,y, θ); (b): answer in the force space (Q1,Q2,M).
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Interaction between the RTM and the IMM during the virtual A/D of flexible parts: (a): general scheme of a VR environment for A/D of flexible parts; (b): interaction between the RTM and the IMM for realistic data update during the virtual A/D.
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Principle of the free-form surface deformation method
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Geometric BC used to generate bending deformation of a flexible beam-part
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Element ds of the flexible beam-part
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Path planning of a flexible beam-part subjected to follower force BCs for virtual A/D in 3D: (a): loading scheme and possible loading paths; (b): realistic A/D path produced by the IMM for loading {a→d}; (c): realistic A/D path produced by the IMM for loading {a→b→c→d}.
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Path planning of a flexible beam subjected to geometric BCs for virtual A/D in 2D: (a): collision free path {a→b→c→d→e→f} and deformed shapes of the path; (b): realistic force law produced by the IMM and loading scheme for a given A/D path.
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Behavior simulation of a flexible beam subjected to the geometric BCs for virtual A/D in 3D: (a): prescribed A/D path and deformed shapes produced by the IMM in the configuration space; (b): realistic force laws produced by the IMM for a given A/D path.
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Example of adimensional force and configuration spaces of a flexible beam-part: (a): bounded force space (Q1,Q2,M3) built from the user’s requirements; (b): associated configuration space (x,y,θ3); (c): answer search in the configuration subspace (x,y).

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