Research On Key Technology Of Collaborative Virtual Assembly System With 3D Haptic Feedback

Networked collaborative virtual assembly system allows people, who are from different participants in different places, for collaboration on product pre-assembly. Then the development time can be shorten and the costs of producting can be reduced by co-verification of assembly and co-optimization of parameters. There will be a very broad application prospect of collaborative virtual assembly system in the future.First of all, the structure of collaborative assembly system is researched in this paper. After analysising the advantages and disadvantages of several typical structures, considering the characteristics of collaborative assembly systems, based on C/S structure a hybrid collaborative virtual assembly system structure is designed. Based on this system the synchronizations and conflict management techniques are studied. Synchronization is achieved by using C/P data in the message transmission. A token-based mechanism is designed to control the operation conflict in collaborative assembly system.Then, space domain-based and time domain-based real-time collision detection algorithm is researched. A "AABB bounding box Octree" algorithm is proposed for collaborative virtual assembly system. This method combines box technology and space segmentation technology. The efficiency of collision detection is greatly enhanced, and the overall performance of system is increased. The collision response algorithm is also examined is this paper. A method whith combines motion-based analysis on display level with physics-based analysis on haptic output level is adopted. Used the results of collision detection the combined effect of collision response is improved by movement calculation and physical analysis.Finally, a collaborative virtual assembly system with 3D haptic feedback is achieved. On this platform some simulation experiments are processed. The algorithms proposed in this paper are validated and analysised. Experiments show that this collaborative virtual assembly system can meet the real-time, synchronization and collaboration requirements.