Rapid Virtual Prototyping of Mechanical Assemblies

这是一项关于建立一个机械设计系统的触觉接口的建议。其目的是证明部件的相互作用、装配和可操作性可以在没有物理原型的情况下进行评估。视觉交互是由CRT屏幕提供的，而触觉交互是通过反射远程机器人主手臂的力来提供的，用户将其作为外骨骼佩戴。主控器不是控制远程环境中的从属手臂，而是影响原型装配所在的虚拟世界。几何推理和功能推理决定了零件的接触、干涉以及力和力矩的传播。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.