Application of the Concave Arc Surface Collision Detection Method to Virtual Assembly

Abstract

Exact location calculation between each part of a parallel groove clamp when connecting a power line with a jumper is addressed in this paper. The relative location between a concave clamp and convex power line cannot be measured directly in live-line manipulation. We propose a concave arc surface collision detection method embedded in motion simulation. The relative location between irregular concave parts in the manipulation process can be obtained. The method is found to be computationally less expensive than convex partitioning collision detection techniques. This research provides a foundation for further study on robot hand manipulation with irregular assembly.