Technical Briefs

Development of a Dual-Handed Haptic Assembly System: SHARP

[+] Author and Article Information
Abhishek Seth

Department of Mechanical Engineering, Virtual Reality Applications Center, Iowa State University, Ames, IA 50011abhiseth@vrac.iastate.edu

Hai-Jun Su

Department of Mechanical Engineering, University of Maryland, Baltimore County, Baltimore, MD 21250haijun@umbc.edu

Judy M. Vance

Department of Mechanical Engineering, Virtual Reality Applications Center, Iowa State University, Ames, IA 50011jmvance@iastate.edu

J. Comput. Inf. Sci. Eng 8(4), 044502 (Nov 07, 2008) (8 pages) doi:10.1115/1.3006306 History: Received November 02, 2007; Revised September 01, 2008; Published November 07, 2008

Virtual reality (VR) technology holds promise as a virtual prototyping (VP) tool for mechanical assembly; however, several developmental challenges still need to be addressed before VP applications can successfully be integrated into the product realization process. This paper describes the development of System for Haptic Assembly and Realistic Prototyping (SHARP), a portable virtual assembly system. SHARP uses physics-based modeling for simulating realistic part-to-part and hand-to-part interactions in virtual environments. A dual-handed haptic interface for a realistic part interaction using the PHANToM® haptic devices is presented. The capability of creating subassemblies enhances the application’s ability to handle a wide variety of assembly scenarios at the part level as well as at the subassembly level. Swept volumes are implemented for addressing maintainability issues, and a network module is added for communicating with different VR systems at dispersed geographic locations. Support for various types of VR systems allows an easy integration of SHARP into the product realization process, resulting in faster product development, faster identification of assembly and design issues, and a more efficient and less costly product design process.

Copyright © 2008 by American Society of Mechanical Engineers
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Figure 1

SHARP system components and modules

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Figure 2

Model data structure in SHARP

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Figure 3

Physics-based modeling in VPS

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Figure 11

Feasible pin voxel size (clearance=1.0 mm)

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Figure 12

Illustration of swept volumes in SHARP

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Figure 13

Network architecture

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Figure 4

Physics update rate for single and dual-handed configurations

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Figure 5

Physics update rate during low clearance assembly

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Figure 6

Mapping RHW within camera view

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Figure 7

Number of voxels versus voxel size

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Figure 9

Feasible pin voxel size (clearance=2.50 mm)

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Figure 10

Feasible pin voxel size (clearance=1.40 mm)



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