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Embedding Haptics-Enabled Virtual Tools in CAD for Training Applications

[+] Author Affiliations
S. Jayaram, H. Joshi, U. Jayaram, Y. Kim, H. Kate

Washington State University, Pullman, WA

L. Varoz

Sandia National Laboratories, Albuquerque, NM

Paper No. DETC2006-99656, pp. 921-931; 11 pages
  • ASME 2006 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 3: 26th Computers and Information in Engineering Conference
  • Philadelphia, Pennsylvania, USA, September 10–13, 2006
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4257-8 | eISBN: 0-7918-3784-X
  • Copyright © 2006 by ASME


This paper describes recent work completed to provide haptics-enabled virtual tools in a native CAD environment, such as CATIA V5™. This was a collaborative effort between Washington State University, Sandia National Laboratories, and Immersion Technologies. The intent was to start by utilizing Immersion’s Haptic Workstation™ hardware and supporting CATIA V5™ software at Sandia and leverage the existing work on virtual assembly done by the VRCIM laboratory at Washington State University (WSU). The key contribution of this paper is a unique capability to perform interactive assembly and disassembly simulations in a native Computer Aided Design (CAD) environment using tools such as allen and box-end wrenches with force feedback using a cyberforce™ and cybergrasp™. Equally important, it also contributes to the new trend in the integration of various commercial-off-the-shelf (COTS) systems with specific user driven systems and solutions using component-based software design concepts. We discuss some of the key approaches and concepts including: different approaches to integrating the native CAD assembly data with the virtual environment constraints data; integration of the native CAD kinematics capability with the immersive environment; algorithms to dynamically organize the assembly constraints for use in manipulation with a virtual hand for assembly and disassembly simulations; and an event-callback mechanism in which different events and callback functions were designed and implemented to simulate different situations in the virtual environment. This integrated capability of haptic tools in a native CAD environment provides functionality beyond extracting data from a CAD model and using it in a virtual environment.

Copyright © 2006 by ASME



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