Interactive simulation of CAD models assemblies using virtual constraint guidance

A new method to assist haptic assembly tasks
  • Loïc TchingEmail author
  • Georges Dumont
  • Jérôme Perret
Original Paper


In the context of virtual reality (VR) and of computed aided design (CAD), haptic simulations are used to perform assembly tasks between 3D objects. To ensure the good assembly of those objects, we propose a new method of interactive assembly that uses both kinematic constraints and guiding virtual fixtures. Modelling a haptic assembly task as a combination of mechanical joints, we focus on the guidance of objects and on the activation cues of kinematic constraints in physical simulation. In this article, we first outline the difficulties related to the haptic-assembly of CAD objects in VR simulation. Introducing the virtual constraint guidance (VCG), we present a new method for haptic guidance that decomposes a task in two independent steps: a guiding step which use geometries as virtual fixtures to position objects, and a functional step which use kinematic constraints to perform the assembly task. We finally present a complete application of our method on a peg-in-hole insertion task.


Virtual reality Haptic simulation 3D assembling task Virtual fixture Kinematic constraint Geometric guidance Peg-in-hole 


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Copyright information

© Springer-Verlag 2010

Authors and Affiliations

  1. 1.Haption, IRISA Bunraku (INRIA joint team)RennesFrance
  2. 2.ENS Cachan, IRISA Bunraku (INRIA joint team)RennesFrance
  3. 3.HaptionSoulgé-sur-OuetteFrance

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