Abstract
Haptic rendering in virtual environment provides a powerful training and validation tool for assembly of bolted joints that require accurate assembly forces. This work proposes a staged haptic rendering approach for virtual assembly (VA) of bolted joints. Firstly, by analyzing the stress condition during the actual assembly process, four consecutive stages, namely navigation stage, transition stage, linearity stage, and yield stage, are identified. Then, the force rendering model is set up. Moreover, a prototype VA system is developed to implement and test the approach. Two groups of experiments on a two-stage gear reducer are conducted to verify the feasibility of the approach and evaluate the prototype’s performance. The results have shown that the force calculated by the proposed approach is consistent with the actual assembly and the evaluators are highly positive on the immersion and the guiding ability of the VA process with the haptic rendering provided.
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Acknowledgments
The authors would like to thank Dr. Zhi-Jia Xu for his help in the software implementation of this work.
Funding
This work was partially supported by the National Nature Science Foundation of China (grant number 51575192, 51505155) and the Science and Technology Research Program of Guangdong (grant number 2015A010104005).
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Li, JR., Liu, JW., Wang, QH. et al. A staged haptic rendering approach for virtual assembly of bolted joints in mechanical assembly. Int J Adv Manuf Technol 96, 161–171 (2018). https://doi.org/10.1007/s00170-017-1510-8
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DOI: https://doi.org/10.1007/s00170-017-1510-8