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Assembly/Disassembly (A/D) simulations using haptic devices are facingdifficulties while simulating insertion/extraction operations such as removingcylinders from holes. In order to address this configuration as well as others,an approach based on contact identification between components is presented inthis paper. This approach can efficiently contribute either to a new A/Dsimulation preparation process relying on two types of shape representations(mesh and CAD NURBS models), or directly to the real time simulation processwhen it is performed with 6D haptic devices. The model processing pipeline isdescribed and illustrated to show how information can be propagated and usedfor contact detection. Then, the contact identification process is introducedand illustrated through an example

Contact identification for assembly-disassembly simulation with a haptic device