Desktop haptic virtual assembly using physically-based part modeling

This research investigates the feasibility of using a desktop haptic virtual environment as a design tool for evaluating assembly operations. Bringing virtual reality characteristics to the desktop, such as stereo vision, further promotes the use of this technology into the every day engineering design process. In creating such a system, the affordability and availablity of hardware/software tools is taken into consideration. The resulting application combines several software packages including VR Juggler, ODE (Open Dynamics Engine)/OPAL (Open Physic Abstraction Layer), OpenHaptics, and OpenGL/GLM/GLUT libraries to explore the benefits and limitations of combining haptics with physically-based modeling. The equipment used to display stereo graphics includes a Stereographies Emitter, Crystal Eyes shutter glasses, and a high refresh rate CRT Monitor. One or two-handed force feedback is obtained from various PHANTOM haptic devices from SensAble Technologies. The application\u27s ability to handle complex part interactions is tested using two different computer systems which approximate the higher and lower end of a typical engineer\u27s workstation. Different test scenarios are analyzed and results presented with regards to collision detection and physical response accuracies

Development of a Dual-Handed Haptic Assembly System: SHARP

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

Virtual bloXing - assembly rapid prototyping for near net shapes

Virtual reality (VR) provides another dimension to many engineering applications. Its immersive and interactive nature allows an intuitive approach to study both cognitive activities and performance evaluation. Market competitiveness means having products meet form, fit and function quickly. Rapid Prototyping and Manufacturing (RP&M) technologies are increasingly being applied to produce functional prototypes and the direct manufacturing of small components. Despite its flexibility, these systems have common drawbacks such as slow build rates, a limited number of build axes (typically one) and the need for post processing. This paper presents a Virtual Assembly Rapid Prototyping (VARP) project which involves evaluating cognitive activities in assembly tasks based on the adoption of immersive virtual reality along with a novel nonlayered rapid prototyping for near net shape (NNS) manufacturing of components. It is envisaged that this integrated project will facilitate a better understanding of design for manufacture and assembly by utilising equivalent scale digital and physical prototyping in one rapid prototyping system. The state of the art of the VARP project is also presented in this paper

Touching creativity; a review and early pilot test of haptic tooling to support design practice, within a distance learning curriculum

Machine haptics has been shown to assist and enhance human–computer interactions. Research from previous studies in the field of haptics has focused on developing a user’s sense of realism of touch when using a haptic device. This paper examines the use of haptics for education, specifically for creative online education. The paper is presented in two parts. First, a review of literature was conducted and used to aid the rationale and underpin the design of a pilot test. Second, a pilot test was designed using a single-point kinaesthetic haptic device with a haptic rendered interface, to support the assembly of a virtual design prototype. The pilot test proved to be extremely valuable in creating and developing a rich virtual environment for non-sighted and sighted participants to use. The results from the initial pilot test showed that although users were positive about their experience of using the haptic device, there were improvements to be made to the interface to enhance the user experience in the next phase of testing

Virtual assembly rapid prototyping of near net shapes

Virtual reality (VR) provides another dimension to many engineering applications. Its immersive and interactive nature allows an intuitive approach to study both cognitive activities and performance evaluation. Market competitiveness means having products meet form, fit and function quickly. Rapid Prototyping and Manufacturing (RP&M) technologies are increasingly being applied to produce functional prototypes and the direct manufacturing of small components. Despite its flexibility, these systems have common drawbacks such as slow build rates, a limited number of build axes (typically one) and the need for post processing. This paper presents a Virtual Assembly Rapid Prototyping (VARP) project which involves evaluating cognitive activities in assembly tasks based on the adoption of immersive virtual reality along with a novel non-layered rapid prototyping for near net shape (NNS) manufacturing of components. It is envisaged that this integrated project will facilitate a better understanding of design for manufacture and assembly by utilising equivalent scale digital and physical prototyping in one rapid prototyping system. The state of the art of the VARP project is also presented in this paper

Interactive form creation: exploring the creation and manipulation of free form through the use of interactive multiple input interface

Most current CAD systems support only the two most common input devices: a mouse and a keyboard that impose a limit to the degree of interaction that a user can have with the system. However, it is not uncommon for users to work together on the same computer during a collaborative task. Beside that, people tend to use both hands to manipulate 3D objects; one hand is used to orient the object while the other hand is used to perform some operation on the object. The same things could be applied to computer modelling in the conceptual phase of the design process. A designer can rotate and position an object with one hand, and manipulate the shape [deform it] with the other hand. Accordingly, the 3D object can be easily and intuitively changed through interactive manipulation of both hands.The research investigates the manipulation and creation of free form geometries through the use of interactive interfaces with multiple input devices. First the creation of the 3D model will be discussed; several different types of models will be illustrated. Furthermore, different tools that allow the user to control the 3D model interactively will be presented. Three experiments were conducted using different interactive interfaces; two bi-manual techniques were compared with the conventional one-handed approach. Finally it will be demonstrated that the use of new and multiple input devices can offer many opportunities for form creation. The problem is that few, if any, systems make it easy for the user or the programmer to use new input devices

Mekaanisen kokoonpanon harjoitteluun tarkoitetun virtuaalitodellisuuteen perustuvan ohjelman suunnittelu ja toteutus

Although virtual assembly has been studied for over 20 years, it has not yet reached a state where it would enjoy widespread usage outside of academia despite the possible cost savings and improvements in the effectiveness of the training. Even though there have been multiple separate studies on virtual assembly, hand-based interaction, and assembly assistance, we have not found applications that would combine all of these to provide a complete assembly training experience. The goal of this thesis was to design and implement a virtual reality application for mechanical assembly training. In our application, we provide a natural user interaction by using a Leap Motion controller, a hand tracking device mounted onto a virtual reality headset. The application was implemented using the Unity game engine and supports both Oculus and SteamVR compatible VR headsets. Unlike most of the previous systems, we combine the use of hand-based interaction, assembly simulation, and context-aware assembly guidance to create an all-in-one VR assembly solution. As a part of our implementation, we propose a new method for assembly guidance and validation that works by matching assemblies built by the user to the assembly the user is supposed to build. Based on the user testing results, there is an interest in this kind of application. Although the inaccuracies with the hand and finger tracking hindered the usability of the application, the users described the application as surprisingly easy to use once they learned how to overcome these issues.Siitä huolimatta, että virtuaalista kokoonpanoa on tutkittu yli 20 vuotta, ja se voisi tarjota sekä kustannussäästöjä että jopa parantaa harjoittelun tehokkuutta, se ei ole vielä saavuttanut vakiintunutta asemaa akateemisen tutkimuksen ulkopuolella. Vaikka virtuaalisesta kokoonpanosta, käsipohjaisesta vuorovaikutuksesta ja kokoonpanon avustamisesta on tehty useita erillisiä tutkimuksia, emme ole löytäneet sovelluksia, jotka yhdistäisivät kaikki nämä kokonaisvaltaisen harjoitusalustan tarjoamiseksi. Tämän diplomityön tarkoituksena oli suunnitella ja toteuttaa virtuaalitodellisuuteen perustuva työkalu mekaanisen kokoonpanon harjoitteluun. Ohjelmamme tarjoaa luonnollisen, käsien seurantaan perustuvan käyttöliittymän hyödyntämällä virtuaalilaseihin kiinnitettyä Leap Motion -ohjainta. Sovellus toteutettiin käyttäen Unity-pelimoottoria ja sovellus tukee sekä Oculus- että SteamVR-yhteensopivia virtuaalitodellisuuslaseja. Toisin kuin useimmat vastaavat järjestelmät, meidän työkalumme yhdistää käsin tapahtuvan interaktion, kokoonpanosimulaation ja kontekstisidonnaiset kokoonpano-ohjeet tarjoten kokonaisvaltaisen sovelluksen virtuaalisen kokoonpanon harjoitteluun. Osana työkaluamme kehitimme uuden menetelmän kokoonpanon aikana tapahtuvien virheiden havainnoimiseen ja kontekstisidonnaisten kokoamisohjeiden muodostamiseen. Kehittämämme menetelmä perustuu vastaavuuksien etsimiseen käyttäjän kokoamien tuotteiden ja tavoitteena olevan tuotteen väliltä. Käyttäjätestauksesta saatujen tulosten perusteella tämänkaltaiselle sovellukselle olisi kysyntää. Vaikka käsienseurantalaitteen epätarkkuus haittasi sovelluksen käytettävyyttä, käyttäjät luonnehtivat sovellusta yllättävän helppokäyttöiseksi opittuaan työskentelemään sovelluksen parissa