Skip to Main content Skip to Navigation
Journal articles

Contact identification for assembly-disassembly simulation with a haptic device

Robert Iacob 1 Peter Mitrouchev 1 Jean-Claude Léon 1 
1 G-SCOP_SIREP - Système d’Information, conception RobustE des Produits
G-SCOP - Laboratoire des sciences pour la conception, l'optimisation et la production
Abstract : Assembly/Disassembly (A/D) simulations using haptic devices are facing difficulties while simulating insertion/extraction operations such as removing cylinders from holes. In order to address this configuration as well as others, an approach based on contact identification between components is presented in this paper. This approach can efficiently contribute either to a new A/D simulation preparation process relying on two types of shape representations (mesh and CAD NURBS models), or directly to the real time simulation process when it is performed with 6D haptic devices. The model processing pipeline is described and illustrated to show how information can be propagated and used for contact detection. Then, the contact identification process is introduced and illustrated through an example
Complete list of metadata

Cited literature [11 references]  Display  Hide  Download
Contributor : Peter Mitrouchev Connect in order to contact the contributor
Submitted on : Wednesday, January 23, 2008 - 3:56:05 PM
Last modification on : Tuesday, December 7, 2021 - 10:10:01 AM
Long-term archiving on: : Thursday, April 15, 2010 - 1:40:59 PM


Files produced by the author(s)


  • HAL Id : hal-00214205, version 1
  • ARXIV : 0801.3713



Robert Iacob, Peter Mitrouchev, Jean-Claude Léon. Contact identification for assembly-disassembly simulation with a haptic device. The Visual Computer, Springer Verlag, 2008, 24 (11), pp.973-979. ⟨hal-00214205⟩



Record views


Files downloads