Path Planning for Flexible Components using a Virtual Reality Environment.pdf

Proceedings ofthe 5* IEEE International Symposium on Assembly and Task Planning Besanqon, France July 10-1 1,2003 Path Planning for Flexible Components using a Virtual Reality Environment Alexei Mikchevitcht’ Jean-Claude LCon’ Alexandre Gouskov’ ‘Soils, Solids, Structures Laboratory UMR CNRS 5521 INPG, Domaine Universitaire BP 53X 38041 Grenoble, France Abstract Assembly/Dismsembly (MD) operation simulation during the product design is an important aspect to improve the performance and qualify of products. Current MD path planning approaches are based on models representing rigid parts. So. an important mpect is an adequate simulation of flexible parts for path planning. The approach proposed will be used as a basis to simulate flexible parts into a Virtual Reality (VRJ environment for the A/D evaluation. First of all, the study of current assembly path planning method is performed Secondly, as an issue of the problems discussed, a new system integrating real-time and interactive mechanical simulation approaches is proposed Finally, an example of the interactive mechanical model applicoble toflexible r o d used into an A/D path planning context for the VR simulation is presented The present approach is considered as apropasal for a methodologv used with VR environments during the product design process. 1 Introduction The field of An, fits among the domains which interest the industry when the target is either to incorporate or to optimize the triplet “quality - delay - cost” during a product design process. An A/D simulation process falls into industrial needs because it reduces the product design cycle as well as the number of physical prototypes required, which forms also a source ofconsiderable cost reduction. Therefore, the simulation of A/D processes should take place as soon as possible during the design, this is particularly true for engine bay maintenance in the car industry [ l , 21. Then, it is essential to be abl