Advances in voxel-based 6-DOF haptic rendering

McNeely, William A.; Puterbaugh, Kevin D.; Troy, James J.

doi:10.1145/1198555.1198606

Cited by 46 publications

(60 citation statements)

References 16 publications

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“…The voxels form the underlying representation for the voxmap-pointshell method of collision detection and six degree-of-freedom force modeling [23][24][25]. The Voxmap PointShell TM (VPS) software, licensed from Boeing, was used in the development of the research presented here.…”

Section: Voxmap Pointshell Methodsmentioning

confidence: 99%

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BREP Identification During Voxel-Based Collision Detection for Haptic Manual Assembly

Faas

Vance

2011

ASME 2011 World Conference on Innovative Virtual Reality

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This paper presents a novel method to tie geometric boundary representation (BREP) to voxel-based collision detection for use in haptic manual assembly simulation. Virtual Reality, in particular haptics, has been applied with promising results to improve preliminary product design, assembly prototyping and maintenance operations. However, current methodologies do not provide support for low clearance assembly tasks, reducing the applicability of haptics to a small subset of potential situations. This paper discusses a new approach, which combines highly accurate CAD geometry (boundary representation) with voxel models to support a hybrid method involving both geometric constraint enforcement and voxel-based collision detection to provide stable haptic force feedback. With the methods presented here, BREP data can be accessed during voxel-based collision detection. This information can be used for constraint recognition and lead to constraint-guidance during the assembly process. ABSTRACTThis paper presents a novel method to tie geometric boundary representation (BREP) to voxel-based collision detection for use in haptic manual assembly simulation. Virtual Reality, in particular haptics, has been applied with promising results to improve preliminary product design, assembly prototyping and maintenance operations. However, current methodologies do not provide support for low clearance assembly tasks, reducing the applicability of haptics to a small subset of potential situations. This paper discusses a new approach, which combines highly accurate CAD geometry (boundary representation) with voxel models to support a hybrid method involving both geometric constraint enforcement and voxel-based collision detection to provide stable haptic force feedback. With the methods presented here, BREP data can be accessed during voxel-based collision detection. This information can be used for constraint recognition and lead to constraint-guidance during the assembly process.

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Section: Voxmap Pointshell Methodsmentioning

confidence: 99%

“…Extended discussions of the collision forces and torques calculated using the voxmap point shell method can be found in multiple papers and will not be reiterated here [23][24][25]. In short, collision detection using the voxmap-pointshell method is based on penetration of the pointshell into the set of voxels in the scene.…”

Section: Collision Detectionmentioning

confidence: 99%

BREP Identification During Voxel-Based Collision Detection for Haptic Manual Assembly

Faas

Vance

2011

ASME 2011 World Conference on Innovative Virtual Reality

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“…The voxmap-pointshell method is a volume-based collision detection algorithm developed by McNeely et al [22][23][24] for haptic rendering of complex models. The functions of voxelization, voxel-sampling, and force generation were implemented in the Voxmap PointShell TM (VPS TM ) software available from Boeing.…”

Section: Voxmap-pointshell Methodsmentioning

confidence: 99%

Assessment of Pointshell Shrinking and Feature Size on Virtual Manual Assembly

Faas

Vance

2010

ASME 2010 World Conference on Innovative Virtual Reality

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This paper investigates the effect of pointshell shrinking and feature size on manual assembly operations in a virtual environment with haptic force feedback. Specific emphasis is on exploring methods to improve voxelbased modeling to support manual assembly of low clearance parts. CAD parts were created, voxelized and tested for assembly. The results showed that pointshell shrinking allows the engineer to assemble parts with a lower clearance than without pointshell shrinking. Further results showed that assemble-ability is dependent on feature size, particularly part diameter and clearance. In a pin and hole assembly, as the pin diameter increases, for a given percent clearance, assembling low clearance features becomes difficult. An empirical equation is developed to guide the designer in selecting an appropriate voxel size based on feature size. These results advance the effort to improve manual assembly operations via haptic feedback in the virtual environment. ABSTRACTThis paper investigates the effect of pointshell shrinking and feature size on manual assembly operations in a virtual environment with haptic force feedback. Specific emphasis is on exploring methods to improve voxel-based modeling to support manual assembly of low clearance parts. CAD parts were created, voxelized and tested for assembly. The results showed that pointshell shrinking allows the engineer to assemble parts with a lower clearance than without pointshell shrinking. Further results showed that assemble-ability is dependent on feature size, particularly part diameter and clearance. In a pin and hole assembly, as the pin diameter increases, for a given percent clearance, assembling low clearance features becomes difficult. An empirical equation is developed to guide the designer in selecting an appropriate voxel size based on feature size. These results advance the effort to improve manual assembly operations via haptic feedback in the virtual environment

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“…It combines VRJuggler [17] for stereoscopic immersion, OpenSceneGraph [14] for graphics, Voxmap PointShell™ (VPS) [11], [12], [13], [19] for physics for collisions between virtual objects, and VR JuggLua [15], which enables creating scenes and objects quickly using the Lua scripting language. Through VR JuggLua, SPARTA is able to utilize the Virtual Reality Peripheral Network (VRPN) software [18] to support a wide variety of hardware devices.…”

Section: Hardware and Software Environmentmentioning

confidence: 99%