Haptic Simulation of Assembly Operation in Virtual Environment

2000 ◽  
Author(s):  
Tsuneo Yoshikawa ◽  
Kouki Yoshimoto
Keyword(s):  
Virtual Environment ◽  
Real World ◽  
Surface Friction ◽  
Friction Characteristics ◽  
Assembly Operation ◽  
Human Skill ◽  
Assembly Operations ◽  
Haptic Simulation ◽  
Assembly Tasks ◽  
Gathering Data

Abstract This paper presents a haptic simulator of 2-dimensional peg-in-hole assembly operations in a virtual environment, considering the dynamics and the surface friction characteristics of the peg and the hole. An operator can operate the virtual peg by inserting his fingers into rings at the tips of link mechanisms which display the operating feeling to the operator. By using this simulator, we can measure the force between fingers and the peg, the contact states between the peg and hole, and the position of the peg during the operation. To examine the validity of the simulator, comparison between the peg-in-hole task using the simulator and that in the real world has been performed. It is hoped that this simulator will help in gathering data of human skill in assembly tasks and analyzing the human skill.

Can people with brain injury transfer route knowledge from a virtual environment to the real world?

2004 ◽  
Author(s):  
Roy C. Davies ◽  
Gerd Johansson ◽  
Anita Linden ◽  
Kersin Boschian ◽  
Berigt Sonesson ◽  
...  
Keyword(s):  
Brain Injury ◽  
Virtual Environment ◽  
Real World ◽  
Route Knowledge ◽  
The Real

scholarly journals Performance in complex life situations: effects of age, cognition, and walking speed in virtual versus real life environments

2021 ◽  
Vol 18 (1) ◽  
Author(s):  
Michal Kafri ◽  
Patrice L. Weiss ◽  
Gabriel Zeilig ◽  
Moshe Bondi ◽  
Ilanit Baum-Cohen ◽  
...  
Keyword(s):  
Older Adults ◽  
Heart Rate ◽  
Virtual Environment ◽  
Real World ◽  
Age Groups ◽  
Age Effects ◽  
Shopping Mall ◽  
Complex Task ◽  
The Real ◽  
Gait Parameters

Abstract Background Virtual reality (VR) enables objective and accurate measurement of behavior in ecologically valid and safe environments, while controlling the delivery of stimuli and maintaining standardized measurement protocols. Despite this potential, studies that compare virtual and real-world performance of complex daily activities are scarce. This study aimed to compare cognitive strategies and gait characteristics of young and older healthy adults as they engaged in a complex task while navigating in a real shopping mall and a high-fidelity virtual replica of the mall. Methods Seventeen older adults (mean (SD) age = 71.2 (5.6) years, 64% males) and 17 young adults (26.7 (3.7) years, 35% males) participated. In two separate sessions they performed the Multiple Errands Test (MET) in a real-world mall or the Virtual MET (VMET) in the virtual environment. The real-world environment was a small shopping area and the virtual environment was created within the CAREN™ (Computer Assisted Rehabilitation Environment) Integrated Reality System. The performance of the task was assessed using motor and physiological measures (gait parameters and heart rate), MET or VMET time and score, and navigation efficiency (cognitive performance and strategy). Between (age groups) and within (environment) differences were analyzed with ANOVA repeated measures. Results There were no significant age effects for any of the gait parameters but there were significant environment effects such that both age groups walked faster (F(1,32) = 154.96, p < 0.0001) with higher step lengths (F(1,32) = 86.36, p < 0.0001), had lower spatial and temporal gait variability (F(1,32) = 95.71–36.06, p < 0.0001) and lower heart rate (F(1,32) = 13.40, p < 0.01) in the real-world. There were significant age effects for MET/VMET scores (F(1,32) = 19.77, p < 0.0001) and total time (F(1,32) = 11.74, p < 0.05) indicating better performance of the younger group, and a significant environment effect for navigation efficiency (F(1,32) = 7.6, p < 0.01) that was more efficient in the virtual environment. Conclusions This comprehensive, ecological approach in the measurement of performance during tasks reminiscent of complex life situations showed the strengths of using virtual environments in assessing cognitive aspects and limitations of assessing motor aspects of performance. Difficulties by older adults were apparent mainly in the cognitive aspects indicating a need to evaluate them during complex task performance.

Infact not fiction

1995 ◽  
Vol 15 (1) ◽  
pp. 34-34
Author(s):  
Clive Loughlin
Keyword(s):  
Assembly Line ◽  
New Product ◽  
Assembly System ◽  
Assembly Operation ◽  
Flexible Assembly ◽  
Change Mechanism ◽  
Assembly Operations ◽  
Shuttle System

Examines the development of a flexible assembly machine, GENASYS [Generic Assembly System] which has been designed to produce a range of components. The machine comprises two manipulator arms, a tool changer and a shuttle system for the pallets on which the assembly operations are performed. Each manipulator is able to select a different tool from a carousel tool change mechanism that can accommodate up to 20 different tools. The machine can easily be programmed for a specific assembly operation and low batch numbers can be produced economically. Timescales for the design and installation of the machine are considerably shorter than for a dedicated assembly line and once installed in a factory new product variants can be accommodated within very short timescales and with low‐retooling costs.

scholarly journals Improving the Performance of Modular Production in the Apparel Assembly: A Mathematical Programming Approach

2014 ◽  
Vol 2014 ◽  
pp. 1-7 ◽  
Author(s):  
Xiaoqing Wang ◽  
Chun-Hung Chiu ◽  
Wei Guo
Keyword(s):  
Optimal Allocation ◽  
Programming Approach ◽  
Time Interval ◽  
Work In Process ◽  
Target Values ◽  
Modular Production ◽  
Mathematical Programming Approach ◽  
Holding Cost ◽  
Assembly Operations ◽  
Assembly Tasks

We construct the mathematical models to find the optimal allocation of the module’s capacity (module members) to different assembly operations in a module for given garment assembly tasks in a modular production system. The objectives of the models are minimizing the holding cost for work in process (WIP) inventories in the module and the total deviation of the WIP inventories from their corresponding target values in the module during a specific time interval. The solutions of the models can be used as reference to achieve better allocation of the module members to different operations in a module to fulfill the given garment assembly tasks.

scholarly journals VR FOR ASSEMBLY TASKS IN THE MANUFACTURING INDUSTRY – INTERACTION AND BEHAVIOUR

2020 ◽  
Vol 1 ◽  
pp. 1697-1706
Author(s):  
Y. Eriksson ◽  
M. Sjölinder ◽  
A. Wallberg ◽  
J. Söderberg
Keyword(s):  
Pilot Study ◽  
Real World ◽  
Manufacturing Industry ◽  
The Real ◽  
Assembly Tasks

AbstractA testbed was developed aiming to contribute to further knowledge on what is required from a VR application in order to be useful for planning of assembly tasks. In a pilot study the testbed was tested on students. The focus of the study was to explore the users’ behaviour, and to gain a better understanding of their experience using VR. The students experienced a gap between the real world and VR, which confirms theories that VR is not a copy or twin of an object or environment.

Integrating Impedance Control and Learning Based Search Scheme for Robotic Assemblies Under Uncertainty

2018 ◽  
Author(s):  
Rishi K. Malhan ◽  
Yash Shahapurkar ◽  
Ariyan M. Kabir ◽  
Brual Shah ◽  
Satyandra K. Gupta
Keyword(s):  
Search Strategy ◽  
Small Volume ◽  
Impedance Control ◽  
Production Volume ◽  
Control Parameters ◽  
Robotic Arms ◽  
High Production Volume ◽  
High Production ◽  
Assembly Operations ◽  
Assembly Tasks

Using fixtures for assembly operations is a common practice in manufacturing processes with high production volume. For automated assembly cells using robotic arms, trajectories are programmed manually and robots follow the same path repeatedly. It is not economically feasible to build fixed fixtures for small volume productions as they require high accuracy and are part specific. Moreover, hand coding robot trajectories is a time consuming task. The uncertainties in part localization and inaccuracy in robot motions make it challenging to automate the task of assembling two parts with tight tolerances. Researchers in past have developed methods for automating the assembly task using contact-based search schemes and impedance control-based trajectory execution. Both of these approaches may lead to undesired collision with critical features on the parts. Our method guarantees safety for parts with delicate features during the assembly process. Our approach enables us to select optimum impedance control parameters and utilizes a learning-based search strategy to complete assembly tasks under uncertainties in bounded time. Our approach was tested on an assembly of two rectangular workpieces using KUKA IIWA 7 manipulator. The method we propose was able to successfully select the optimal control parameters. The learning-based search strategy successfully estimated the uncertainty in pose of parts and converged in few iterations.

scholarly journals Design and Digital Manufacturing: an ergonomic approach for Industry 4.0

2016 ◽  
Author(s):  
Elena Laudante ◽  
Francesco Caputo
Keyword(s):  
Production Process ◽  
Virtual Environment ◽  
Production Line ◽  
Industry 4.0 ◽  
Manufacturing Industry ◽  
Continuous Process ◽  
Design Environment ◽  
Human Machine Interaction ◽  
Holistic View ◽  
Assembly Tasks

The contribution proposes innovative methods for design and ergonomic configuration of tools, equipment and manual workplaces for automobile assembly tasks, in order to increase the worker’s welfare and the system’s performance by improving general safety conditions. Developed activities are part of the research project “DEWO – Design Environment for WorkPlace Optimization”, financed by Italian Government to the Second University of Naples. The aim of this project is to identify new methods for optimization of assembly tasks  in a virtual environment in terms of overall integration among materials management, working tasks organization and layout, starting from the principles of "WorkPlace Organization" and the modern theories of "Lean Production ". The manufacturing industry is heading to the ever more pushed use of digital technologies in order to achieve very dynamic production environments and to be able to develop continuous process and product innovations to fit into the so called Fourth Industrial Revolution, Industry 4.0. The main goal of Industry 4.0 is to “rethink” companies through the use of digital, to reconsider the design approach and to monitor the production process in real time. The research addresses the evolution of innovation 4.0 in relation to the discipline of design, where the management of knowledge in the production process has led to the strengthening and improvement of tangible goods. Starting by current ergonomic analysis models and innovative approaches to the process of industrial production line, the manufacturing processes in the virtual environment were defined and optimized with the use of innovative 3D enjoyment technologies. The constant interaction among the different disciplines of design, engineering and occupational medicine, enables the creation of advanced systems for simulating production processes based on virtual reality and augmented reality, mainly focused on the needs and requirements of the workers on a production line where it is possible to bring out the interaction between real and virtual factory (Cyber-Physical System). The objective is to define new models of analysis, of development and testing for the configuration of ergonomic processes that improve and facilitate the human-machine interaction in a holistic view, in order to protect and enhance human capital, transferring the experiences and knowledge in the factory system, key factors for the company and for the sustainability of workers welfare levels.DOI: http://dx.doi.org/10.4995/IFDP.2016.3297

Constraint-Based Virtual Environment for Supporting Assembly and Maintainability Tasks

1999 ◽  
Author(s):  
Terrence Fernando ◽  
Prasad Wimalaratne ◽  
Kevin Tan
Keyword(s):  
Virtual Environment ◽  
Current System ◽  
Research Programme ◽  
Geometric Constraints ◽  
Simulation Environment ◽  
Constrained Motion ◽  
Constraint Management ◽  
Interactive Product ◽  
Assembly Operations ◽  
The University

Abstract This paper presents the design and implementation of a constraint-based virtual environment for supporting interactive assembly and maintenance tasks. The system architecture of the constraint-based virtual environment is based on the integration of components such as OpenGL Optimizer, Parasolid geometric kernel, a Constraint Engine and an Assembly Relationship Graph (ARG). The approach presented in this paper is based on pure geometric constraints. Techniques such as automatic constraint recognition, constraint satisfaction, constraint management and constrained motion are employed to support interactive assembly operations and realistic behaviour of assembly parts. The current system has been evaluated using two industrial case studies. This work is being carried out as a part of a research programme referred to as IPSEAM (Interactive Product Simulation Environment for Assessing Assembly and Maintainability), at the University of Salford.

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