抄録
This paper deals with a method for presenting reaction forces in virtual assembly environments, which is used for instructing or training techniques of assembly works. There is an important demand for the reaction force on stress of parts in the virtual assembly environment. In this paper, the C-Space (Configuration Space) representation and the hierarchical processing are proposed for satisfying the demand. The C-Space can represent all stress relations of parts clearly, and can indicate the current location immediately by making the space divided into some zones of geometrically important states for works. The hierarchical processing is realized with two-levels layer and reduces the calculation delay for controlling the reaction force. The qualitative level processing recognizes a task by kinematic reasoning with the C-Space, and the quantitative level processing calculates the reaction force by task based reaction models and physical data. A case study with two experiments shows that the method is effective for presenting reaction forces on a screw tightening work.
