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Mechanics Based Design of Structures and Machines
An International Journal
Volume 46, 2018 - Issue 5
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Original Articles

Design of a 6-DOF force device for virtual assembly (FDVA-6) of mechanical parts

Q. H. WangSchool of Mechanical and Automotive Engineering, South China University of Technology, GuangZhou, China
,
S. C. WuSchool of Mechanical and Automotive Engineering, South China University of Technology, GuangZhou, China
,
J. W. LiuSchool of Mechanical and Automotive Engineering, South China University of Technology, GuangZhou, China
&
J. R. LiSchool of Mechanical and Automotive Engineering, South China University of Technology, GuangZhou, ChinaCorrespondence[email protected]
Pages 567-577 | Received 06 Jul 2016, Accepted 23 Aug 2017, Published online: 06 Feb 2018
 
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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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