Research Papers

A Methodology for Building Up an Infrastructure of Haptically Enhanced Computer-Aided Design Systems

[+] Author and Article Information
Weihang Zhu

Department of Industrial Engineering, Lamar University, Beaumont, TX 77710-0032

J. Comput. Inf. Sci. Eng 8(4), 041004 (Nov 06, 2008) (11 pages) doi:10.1115/1.2988340 History: Received August 17, 2007; Revised January 23, 2008; Published November 06, 2008

This paper presents an infrastructure that integrates a haptic interface into a mainstream computer-aided design (CAD) system. A haptic interface, by providing force feedback in human-computer interaction, can improve the working efficiency of CAD/computer-aided manufacturing (CAM) systems in a unique way. The full potential of the haptic technology is best realized when it is integrated effectively into the product development environment and process. For large manufacturing companies this means integration into a commercial CAD system (Stewart, , 1997, “Direct Integration of Haptic User Interface in CAD Systems  ,” ASME Dyn. Syst. Control Div., 61, pp. 93–99). Mainstream CAD systems typically use constructive solid geometry (CSG) and boundary representation (B-Rep) format as their native format, while internally they automatically maintain triangulated meshes for graphics display and for numerical evaluation tasks such as surface-surface intersection. In this paper, we propose to render a point-based haptic force feedback by leveraging built-in functions of the CAD systems. The burden of collision detection and haptic rendering computation is alleviated by using bounding spheres and an OpenGL feedback buffer. The major contribution of this paper is that we developed a sound structure and methodology for haptic interaction with native CAD models inside mainstream CAD systems. We did so by analyzing CAD application models and by examining haptic rendering algorithms. The technique enables the user to directly touch and manipulate native 3D CAD models in mainstream CAD systems with force/touch feedback. It lays the foundation for future tasks such as direct CAD model modification, dynamic simulation, and virtual assembly with the aid of a haptic interface. Hence, by integrating a haptic interface directly with mainstream CAD systems, the powerful built-in functions of CAD systems can be leveraged and enhanced to realize more agile 3D CAD design and evaluation.

Copyright © 2008 by American Society of Mechanical Engineers
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Figure 1

Laboratory setup of a laboratory-built 5DOF haptic device (6-9)

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Figure 2

PHANTOM Omni haptic device (13)

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Figure 3

OpenHaptics toolkit architecture for the haptic interface

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Figure 4

The simplified CAD system application object model

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Figure 5

Three loops of haptic rendering

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Figure 6

The proxy method for haptic rendering

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Figure 7

CAD system embedded application skeleton code structure

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Figure 8

External graphics content display in addition to the current CAD environment: (a) original CAD assembly models and (b) CAD models with additional graphics (triangulated mesh overlay)

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Figure 9

Haptic embedded application with the haptic function manager

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Figure 10

The mapping between the physical haptic workspace to the graphic view (CS: coordinate system)

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Figure 11

The laboratory setup of the haptic interface with a CAD system

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Figure 12

Add-In event flow in the CAD system

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Figure 13

Local coordinate of the body relative to the assembly coordinate system

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Figure 14

Loading of haptic Add-In functions in the CAD environment

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Figure 15

The crank assembly with the haptic cursor

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Figure 16

One part of the crank assembly while being manipulated

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Figure 17

Touching and manipulating the oil pump assembly in the CAD environment: (a) an oil pump CAD model assembly and (b) the oil pump assembly with a 3D model being manipulated

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Figure 18

Touching and manipulating the U-joint assembly in the CAD environment: (a) a U-joint assembly with the haptic cursor and (b) the U-joint assembly with a 3D model being manipulated




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