Contact identification for assembly-disassembly simulation with a haptic device

TL;DR

This paper introduces a contact identification method for assembly/disassembly simulations with haptic devices, improving the realism and efficiency of simulating insertion and extraction operations.

Contribution

It presents a novel contact detection approach that integrates shape representations and real-time processing for enhanced A/D simulation with haptic devices.

Findings

Effective contact detection between components during simulation

Supports both mesh and CAD NURBS models

Improves realism in insertion/extraction operations

Abstract

Assembly/Disassembly (A/D) simulations using haptic devices are facing difficulties while simulating insertion/extraction operations such as removing cylinders from holes. In order to address this configuration as well as others, an approach based on contact identification between components is presented in this paper. This approach can efficiently contribute either to a new A/D simulation preparation process relying on two types of shape representations (mesh and CAD NURBS models), or directly to the real time simulation process when it is performed with 6D haptic devices. The model processing pipeline is described and illustrated to show how information can be propagated and used for contact detection. Then, the contact identification process is introduced and illustrated through an example