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During the design phase of products and before going into production, it isnecessary to verify the presence of mechanical plays, tolerances, andencumbrances on production mockups. This work introduces a multi-modal systemthat allows verifying assembly procedures of products in Virtual Realitystarting directly from CAD models. Thus leveraging the costs and speeding upthe assessment phase in product design. For this purpose, the design of a novel6-DOF Haptic device is presented. The achieved performance of the system hasbeen validated in a demonstration scenario employing state-of-the-artvolumetric rendering of interaction forces together with a stereoscopicvisualization setup.

A 6-DOF haptic manipulation system to verify assembly procedures on CAD models