is an open access repository that collects the work of Arts et Métiers ParisTech researchers and makes it freely available over the web where possible. This is an author-deposited version published in: https://sam.ensam.eu Handle ID Purpose -This paper aims to report the development and key features of a novel virtual reality system for assembly planning and evaluation called Haptic Assembly and Manufacturing System (HAMS). The system is intended to be used as a tool for training, design analysis and path planning. Design/methodology/approach -The proposed system uses the physics-based modelling (PBM) to perform assemblies in virtual environments. Moreover, dynamic assembly constrains have been considered to reduce the degrees of freedom of virtual objects and enhance the virtual assembly performance. Findings -To evaluate the effectiveness and performance of HAMS, the assembly of various mechanical components has been carried out, and the results have shown that it can be effectively used to simulate, evaluate, plan and automatically formalise the assembly of complex models in a more natural and intuitive way. Research limitations/implications -The collision detection performance is the bottleneck in any virtual assembly system. New methods of collision shape representation and collision detection algorithms must be considered. Originality/value -HAMS introduces the use of dynamic assembly constraints to enhance the virtual assembly performance. HAMS also uses features not yet reported by similar systems in the literature. These features include: automatic or manual definition of assembly constraints within the virtual assembly system; the implementation of control panels and widgets to modify simulation parameters during running time to evaluate its influence on simulation performance; assembly data logging such as trajectories, forces and update rates for post-processing, further analysis or its presentation in the form of chronocyclegraphs to graphically analyse the assembly process.
HAMS REF ] is another example of bimanual haptic assembly and manufacturing system able to handle manipulation with two Phantoms.
The development of a physics and constraint-based haptic virtual assembly system
Assembly Automation
Engineering