Haptic manipulation of virtual mechanisms from mechanical CAD designs

Author

Nahvi, Ali ; Nelson, Donald D. ; Hollerbach, John M. ; Johnson, David E.

Author_Institution

Dept. of Comput. Sci. & Mech. Eng., Utah Univ., Salt Lake City, UT, USA

Volume

1

fYear

1998

fDate

16-20 May 1998

Firstpage

375

Abstract

A haptic display system is presented for manipulating virtual mechanisms derived from a mechanical CAD design. Links are designed and assembled into mechanisms using Utah´s Alpha-1 CAD system, and are then manipulated with a Sarcos Dextrous Arm Master. Based on the mechanism´s kinematics and the virtual grasp, the motion of the master is divided into motion of the mechanism and constraint violation. The operator experiences the dynamic forces from the mechanism plus constraint forces

Keywords

CAD; manipulator dynamics; manipulator kinematics; production engineering computing; user interfaces; virtual reality; Sarcos Dextrous Arm Master; Utah Alpha-1 CAD system; constraint forces; dynamic forces; haptic display system; kinematics; mechanical CAD design; virtual grasp; virtual mechanisms; Assembly; Communication system control; Computer displays; Computer interfaces; Design automation; Haptic interfaces; Kinematics; Real time systems; Solid modeling; Workstations;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on

Conference_Location

Leuven

ISSN

1050-4729

Print_ISBN

0-7803-4300-X

Type

conf

DOI

10.1109/ROBOT.1998.676434

Filename

676434