This paper presents our exploration in Haptic-guided Dynamics Simulation in a mainstream Computer-aided Design (CAD) System. Haptic interface, by providing force feedback in human-computer interaction, can improve the working efficiency of CAD/CAM (Computer-aided Design and Manufacturing) systems in a unique way. The full potential of the haptic technology is best realized when it is integrated effectively into the product development environment and process. For large manufacturing companies this means integration into a commercial CAD system [Stewart 1997]. Built on our past foundation work on an infrastructure of haptically enhanced CAD system [Zhu 2006], this research continues to explore the algorithms for dynamics simulation guided with haptic interface. This is fundamental to other tasks such as Virtual Assembly and Digital Mock-up. The research follows a modular haptic rendering algorithm for stable and transparent 6-DOF manipulation as presented in [Otaduy 2006], with improvements by leveraging the built-in CAD system functions and third party Dynamics Engines. The native CAD models are converted to triangulated meshes which are used in object-object collision detection and dynamics response computation. The major contribution of this paper is that we have developed a feasible methodology for haptic-guided dynamic interactions among CAD models inside mainstream CAD systems. It lays the foundation for future tasks such as direct CAD model modification and virtual assembly with the aid of haptic interface.

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