1 / 2023-04-21 13:12:29

Modeling and simulation of a novel virtual assembly system

force sensation, man-in-the-loop, reality and immersion, virtual assembly

A novel virtual assembly system model was built, which includes assembly dynamic model and visual display, force sensation generating system, palm position detection system and man-machine interface device. It can provide realistic assembly vision and force rendering so that the sense of reality and immersion of virtual assembly can be greatly improved. An approach of man-in-the-loop virtual assembly is proposed. The movement of the virtual hand to grab and assemble the parts is driven by the human hand, and there is a dynamic interaction between the assembled parts. Then the virtual assembly force generated according to the calculation results based on multi-body dynamics can be felt by the human hand. For several typical cases, virtual assembly simulations are carried out. The simulation results show that the virtual assembly system performs very well, and each subsystem works well together. The human hand can feel different and clear assembly forces under different assembly cases. The novel virtual assembly system will play an important role in building a real man-in-the-loop assembly system for training workers.