A small displacement torsor (SDT)-based haptic rendering model for assembly of bolted joints

Abstract

Haptic interaction technology is increasingly used in virtual assembly training, assembly path planning, teleoperation assembly and other fields. Obviously, the key issue of haptic interaction technology is the realistic haptic rendering models. This paper proposes a haptic rendering model based on small displacement torsor (SDT) for bolt assembly. For the first time, geometrical errors of parts are considered in the haptic rendering model of bolt assembly, which can improve the fidelity. The comparative experiment proves that the haptic rendering model proposed in this paper is more familiar to the actual assembly than the existing model.