REALISTIC FORCE SIMULATION IN PATH PLANNING FOR VIRTUAL ASSEMBLY OF FLEXIBLE BEAM PARTS.pdf

Virtual Concept 2003 Biarritz - France November, 5-7 REALISTIC FORCE SIMULATION IN PATH PLANNING FOR VIRTUAL ASSEMBLY OF FLEXIBLE BEAM PARTS A. Mikchevitch 1,2, J.-C. Léon 1, A. Gouskov2 (1) : Soils, Solids, Structures Laboratory UMR CNRS 5521 Domaine Universitaire BP 53X 38041 Grenoble Cedex 9 France Phone: (33) 04 76 82 51 27 / 29 Fax: (33) 04 76 82 70 43 E-mail: Alexei.Mikchevitch@inpg.fr Jean-Claude.Leon@inpg.fr (2) : Applied Mechanics Laboratory Bauman Moscow State Technical University 2-nd Baumanskaya str., 5, 105005 Moscow Russia Phone: (7) 095 263 64 87 Fax: (7) 095 267 98 93 E-mail: gouskov@rk5.bmstu.ru Abstract : Assembly/Disassembly (A/D) operation simulation during the product design is an important aspect to improve the performance and quality of products. Current virtual A/D path planning approaches are usually based on models representing rigid parts. So, a key feature is an adequate simulation of flexible parts. Real-time requirements of Virtual Reality (VR) systems face difficulties during the A/D of flexible parts caused by non-linear mechanical behavior. Current haptic feedback force approaches do not supply satisfactory results and thus, the forces provided can cause security problems. In addition, VR input devices are mainly restricted to the definition of geometric boundary conditions specified in the configuration space of the component to be assembled. Thus, specific treatments need to be added to simulate the behavior of the component in its force space, i.e. to determine realistic forces. As an issue of the virtual A/D problems, a system integrating interactive mechanical deformation model is discussed. An example of interactive model applicable to the flexible beams used into an A/D virtual path planning is represented. Finally, experiments are set up and used to evaluate the approach proposed. Key words : assembly, flexible beams, non-linear behavior, path planning, virtual reality. 1- Introdu