Rapid Virtual Prototyping of Mechanical Assemblies

这是一个建议，建立一个触觉接口的机械设计系统。 其目的是证明，部分互动，装配和可操作性可以评估没有物理原型。 视觉交互由CRT屏幕提供，而触觉交互是通过力反射遥控机器人主臂，用户将其作为外骨骼穿戴。 主控制器不是在远程环境中控制从臂，而是影响原型组件所在的虚拟世界。 几何和功能推理确定零件接触、干涉以及力和扭矩的传播。 可视化呈现技术显示程序集的当前状态。 触觉渲染技术将适当的力反馈给主臂，增强了界面的有效性。

This is a proposal to build a haptic interface to a mechanical design system. The objective is to demonstrate that part interaction, assembly, and manipulability can be evaluated without physical prototypes. Visual interactions are provided by a CRT screen, while haptic interaction is by means of force reflecting telerobotic master arms, which the user wears as an exoskeleton. Instead of controlling slave arms in a remote environment, the masters affect a virtual world in which the prototype assembly exists. Geometric and functional reasoning determine part contact, interference, and the propagation of forces and torques. Visual rendering techniques display the current state of the assembly. Haptic rendering techniques feed back appropriate forces to the master arms, enhancing the effectiveness of the interface.