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Interactive Mechanical Design Variation for Haptics and CAD
Author(s) -
Nelson Donald D.,
Cohen Elaine
Publication year - 1999
Publication title -
computer graphics forum
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.578
H-Index - 120
eISSN - 1467-8659
pISSN - 0167-7055
DOI - 10.1111/1467-8659.00349
Subject(s) - haptic technology , computer science , kinematics , mechanical system , linkage (software) , workspace , inverse kinematics , variation (astronomy) , limit (mathematics) , inverse , cad , control theory (sociology) , simulation , control engineering , control (management) , engineering drawing , robot , mathematics , artificial intelligence , engineering , geometry , mathematical analysis , biochemistry , chemistry , physics , classical mechanics , astrophysics , gene
A fast design variation technique for mechanical systems is presented. It is used to interactively optimize mechanical characteristics while “self‐assembling” or satisfying large systems of mechanical constraints. The high speed method is central to providing inverse dynamics force feedback in haptics and control applications. Performance advantages with the use of augmented coordinates for inverse dynamics of closed loop topologies are also noted. The interaction framework allows manipulation of complex assemblies while maintaining kinematically admissible configurations though linkage and joint limit constraints. Furthermore, design variables such as link length can be treated as free variables and optimized to meet design criteria such as assembly dexterity. Assemblies with flexible bodies fit naturally within this framework. Thus, the contribution of this paper is the advancement of techniques in augmented coordinates for the kinematic and force feedback interaction with virtual mechanical assembly design optimization at force control rates.