A Comparison of Two Collision Detection Libraries in a Haptic Simulation Environment

2004 ◽  
Author(s):  
Adam S. Coutee ◽  
Bert Bras
Keyword(s):  
Virtual Environment ◽  
Collision Detection ◽  
High Speed ◽  
Limiting Factors ◽  
Simulation Environment ◽  
Assembly Sequences ◽  
High Speed Collision ◽  
Dynamic Objects ◽  
Haptic Simulation

Modeling the interaction between dynamic objects in a haptically enabled virtual environment requires high-speed collision detection. We present an independent comparison of two publicly available collision detection libraries, V-Clip and SWIFT++, as they perform in our assembly and disassembly simulation. Three assembly sequences, differing only by the complexity of the objects involved, are tested and compared based on speed of execution. In the process, some potentially limiting factors experienced while using these libraries are exposed.

Collision Detection for Virtual Objects in a Haptic Assembly and Disassembly Simulation Environment

2002 ◽  
Author(s):  
Adam S. Coutee ◽  
Bert Bras
Keyword(s):  
Virtual Environment ◽  
Collision Detection ◽  
State Of The Art ◽  
Large Body ◽  
Detection Algorithm ◽  
Simulation Environment ◽  
Virtual Objects ◽  
Haptic Simulation ◽  
Object Interactions ◽  
Assembly Analysis

There exist a large body of work in the field of assembly, sometimes involving the use of a virtual environment to assist the user in assembly analysis. We have developed HIDRA (Haptic Integrated Dis/Re-assembly Analysis), a real-time haptic simulation for the analysis of assembly and disassembly operations. In this paper, we address the state of the art in collision detection and the implications it has on the effectiveness of our simulation. In particular, we focus on the usability of current collision detection libraries and discuss some of their limitations. Also, techniques to improve the robust ness of object interactions, in support of a collision detection algorithm, are presented. Although HIDRA is focused on assembly and disassembly simulations, the techniques described are relevant for the broader development of haptically enabled simulations.

Haptic Interaction Within a Planar Environment

2000 ◽  
Author(s):  
S. P. DiMaio ◽  
S. E. Salcudean ◽  
M. R. Sirouspour
Keyword(s):  
Collision Detection ◽  
Effective Means ◽  
Simulation Software ◽  
Environment Design ◽  
Simulation Environment ◽  
Haptic Interaction ◽  
Interface Control ◽  
Simulated Environments ◽  
Three Degree Of Freedom ◽  
Haptic Simulation

Abstract A haptic simulation environment to simulate planar three-degree-of-freedom motion has been developed by the authors. The system consists of a novel parallel manipulandum and associated control, collision detection and dynamic simulation software running on a QNX PC. This paper describes haptic interface control and outlines the control systems that have been designed for the haptic rendering of virtual environments. Virtual environment design and implementation are also discussed. Using the haptic simulation environment that has been developed, a four-channel teleoperation architecture is shown to be an effective means to display a variety of simulated environments and is compared with a popular impedance-based approach.

Collision-Free Tool Path Generation for Five-Axis High Speed Machining

2011 ◽  
Vol 474-476 ◽  
pp. 961-966 ◽  
Author(s):  
Li Qiang Zhang ◽  
Min Yue
Keyword(s):  
Image Analysis ◽  
Collision Detection ◽  
High Speed ◽  
Tool Path ◽  
Geometric Model ◽  
High Speed Machining ◽  
Analysis Method ◽  
Geometric Information ◽  
Detection Approach ◽  
Five Axis

Collision detection is a critical problem in five-axis high speed machining. Using a combination of process simulation and collision detection based on image analysis, a rapid detection approach is developed. The geometric model provides the cut geometry for the collision detection and records a dynamic geometric information for in-process workpiece. For the precise collision detection, a strategy of image analysis method is developed in order to make the approach efficient and maintian a high detection precision. An example of five-axis machining propeller is studied to demonstrate the proposed approach. It has shown that the collision detection task can be achieved with a near real-time performance.

An Algorithm for Generation of Coordinated Robot Trajectories in Cartesian Space

2013 ◽  
Vol 196 ◽  
pp. 169-180 ◽  
Author(s):  
Adam Słota
Keyword(s):  
Virtual Environment ◽  
Relative Position ◽  
Accuracy Analysis ◽  
Simulation Environment ◽  
Coordinated Motion ◽  
Generation Algorithm ◽  
Cartesian Space ◽  
Position And Orientation ◽  
End Effectors ◽  
Trajectory Generation Algorithm

In the paper a trajectory generation algorithm for two robots’ coordinated motion is presented. Two instances of the algorithm, each for one robot, run in the same time and calculate trajectories’ position and orientation coordinates. Initial and end robots’ end-effectors poses are defined and values of linear and angular speeds are programmed. To minimize relative position and orientation errors an idea of corrective motion is introduced. Trajectory coordinates are calculated as the sum of programmed and corrective motion. The algorithm was implemented in a simulation environment and results of simulation are presented. Static accuracy analysis for general case and stability verification for fixed values of robots’ parameters are described. Finally, an outline of proposed procedure of building a virtual environment for reachability verification and collision checking is presented.

Tool workspace consideration for assembly plan generation

2021 ◽  
Vol 41 (5) ◽  
pp. 612-625
Author(s):  
Akram Bedeoui ◽  
Riadh Ben Hadj ◽  
Moncef Hammadi ◽  
Nizar Aifaoui
Keyword(s):  
Collision Detection ◽  
New Product ◽  
Production Costs ◽  
Assembly Sequence ◽  
Content Type ◽  
Plan Generation ◽  
Assembly Sequences ◽  
Dynamic Interference ◽  
Time Decrease

Purpose During the design of a new product, the generation of assembly sequences plans (ASPs) has become one of the most important problems taken into account by researchers. In fact, a good mounting order allows the time decrease of the assembly process which leads to the reduction of production costs. In this context, researchers developed several methods to generate and optimize ASP based on various criteria. Although this paper aims to improve the quality of ASP it is necessary to increase the number of criteria which must be taken into account when generating ASPs. Design/methodology/approach In this paper, an ASP generation approach, which is based on three main algorithms, is proposed. The first one generates a set of assembly sequences based on stability criteria. The obtained results are treated by the second algorithm which is based on assembly tools (ATs) workspace criterion. An illustrative example is used to explain the different steps of this proposed approach. Moreover, a comparative study is done to highlight its advantages. Findings The proposed algorithm verifies, for each assembly sequence, the minimal required workspace of used AT and eliminates the ASPs non-respecting this criterion. Finally, the remaining assembly sequences are treated by the third algorithm to reduce the AT change during the mounting operation. Originality/value The proposed approach introduces the concept of AT workspace to simulate and select ASPs that respect this criterion. The dynamic interference process allows the eventual collision detection between tool and component and avoids it. The proposed approach reduces the AT change during the mounting operations.

Plastic Flow of Aluminum in Explosive Welding

2019 ◽  
Author(s):  
V.G. Petushkov ◽  
M.I. Zotov ◽  
L.D. Dobrushin
Keyword(s):  
Plastic Deformation ◽  
Corrosion Resistance ◽  
Plastic Flow ◽  
Explosive Welding ◽  
High Speed ◽  
Contact Point ◽  
Contact Boundary ◽  
High Speed Collision ◽  
Collision Angle

Joining of metals in explosive welding takes place as a result of their plastic deformation during a high speed collision and is usually accompanied by typical formation of waves at the interface. In welding aluminium, the weld boundary can also be straight if the speed of the contact point is νc is ≤ 1900 m/s. These welding conditions make it possible to prevent melting of the metal at the interface and increase at the same time its corrosion resistance. In this article, the effect of the dynamic collision angle on the special features of plastic flow of the metal in the vicinity of the contact boundary in welding sheets of AS5 aluminium is described.

scholarly journals Особенности разрушения ударников из пористого сплава на основе вольфрама с упрочняющим наполнителем при взаимодействии с бронепреградами

2020 ◽  
Vol 90 (3) ◽  
pp. 434
Author(s):  
А.Н. Ищенко ◽  
С.А. Афанасьева ◽  
Н.Н. Белов ◽  
В.В. Буркин ◽  
С.В. Галсанов ◽  
...  
Keyword(s):  
High Speed ◽  
Complex Structure ◽  
Experimental Studies ◽  
Effective Area ◽  
Depth Of Penetration ◽  
Iron Cobalt ◽  
Nickel Iron ◽  
High Speed Collision ◽  
Localization Of Plastic Deformation ◽  
Crater Morphology

In this work, computational and experimental studies of the process of destruction of composite firing pin of porous alloy tungsten+nickel+iron+cobalt with 10 % content of titanium tungsten carbide at high-speed collision with steel barriers. It is shown that at ballistic tests with the broad range of speeds, significant exceeding of penetration of these firing pins in steel barriers in comparison with a mass-dimensional analog of the W-Ni-Fe-90 alloy. Based on the analysis of the crater morphology and structure of the striker fragments after penetration into the barrier, the assumption of implementation of the self-sharpenings mode of the firing pin, by means of localization of plastic deformation is made that leads to decrease in the effective area of interaction and increase in depth of penetration. Modification of a mathematical model of a porous ideal elasto-plastic solid with complex structure for the description of destruction with a possibility of accounting of the adiabatic shift mechanism in the course of interaction of the firing pin and a barrier is carried out.

Research on Virtual Grinding for Indexable Inserts

2014 ◽  
Vol 703 ◽  
pp. 163-166
Author(s):  
Yuan Yuan Wang ◽  
Jun Zhao ◽  
Fei Li
Keyword(s):  
Virtual Environment ◽  
High Speed ◽  
3D Models ◽  
Cutting Edge ◽  
Cnc Machining ◽  
Boolean Operation ◽  
Nc Code ◽  
Virtual Machining ◽  
High Speed Grinding ◽  
Testing Efficiency

The cutting location of cutting-edge curves is obtained by the mathematic models of indexable inserts, and based on the softwares of UG and NCSIMUL, The virtual machining platform is realized to simulate the whole processing of grinding. The Entity modelings of indexable inserts are obtained by Boolean operation in virtual environment, and the basis is presented for analyzing accuracy of the mathematic models and the virtual machining platform. Testing efficiency of NC code and reliability of high speed grinding are improved. This method provides precise 3D models which can be used in the followed works such as finite analysis, CNC machining and so on.

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