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Assessment of a Haptic Virtual Assembly System that uses Physics-based Interactions

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6 Author(s)
T. Lim ; Scottish Manufacturing Institute at Heriot-Watt University, UK. Phone: +44-131-451-4353; fax: +44-131-451-3129; e-mail: ; J. M. Ritchie ; J. R. Corney ; R. G. Dewar
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Assembly is one of the most extensively studied manual processes in manufacturing. Using design for assembly (DFA) methodologies relative times of real-world assembly tasks such as manipulation and insertion can be quantified. However, it is unclear if similar values can be reflected in a virtual assembly system? This question forms the rationale for the peg-in-hole assembly task addressed in this study. Although almost simplistic in nature, assembling a peg into a hole addresses three fundamental states in an assembly process -picking, placing and motion within an environment. The objective here is to investigate assembly performance in the virtual environment using a force feedback haptic device benchmarked against previously quantified data. Inclusive, is a kinematic evaluation of task performance for peg-in-hole manipulation based on geometric and force conditions.

Published in:

2007 IEEE International Symposium on Assembly and Manufacturing

Date of Conference:

22-25 July 2007