Design of a 6-DOF force device for virtual assembly (FDVA-6) of mechanical parts |
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| Authors: | Q H Wang S C Wu J W Liu |
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| Institution: | School of Mechanical and Automotive Engineering, South China University of Technology, GuangZhou, China |
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| Abstract: | Among different interaction modalities, force feedback is one of the key technologies to increase the interactivity and immersion of a virtual assembly process. This paper presents a 6-DOF force device with its forward kinematic analysis, workspace simulation, and gravity compensation. To evaluate the device, a prototype system is developed and a case study is conducted to assemble a mechanical product. The users have given positive feedback on the gravity compensation implemented and the general performance of the device. |
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| Keywords: | Force device gravity compensation virtual assembly workspace analysis |
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