This paper presents a haptic simulator based on a force model that renders precise and crisp force feed back for a range of applications such as grinding, polishing and deburring of metals using an abrasive hand-grinding tool. Many skill based manufacturing and medical applications require a human operator to use grinding tools to impart force to remove material from a surface that may have rough texture or asperities. This paper describes the design, implementation and evaluation of this proposed system. First a force model is presented to compute forces resulting from grinding tool work piece interface. Next an image based 3D Terrain modeling algorithm is developed to simulate the details of work piece topology. To create sensation of metal removal during the grinding processes, a dynamic texture modification algorithm is developed to provide realistic virtual simulation of polishing process. Finally human subject tests are carried out to test the effectiveness of the simulator. The skill sets required for grinding operations are usually learned through practice. The grinding simulator presented here is a step towards using haptics to perfect this skill that is otherwise hard to learn quickly.

Issue Section:
Technical Papers
Keywords:
grinding machines, machining, machine tools, simulation, industrial engineering
Topics:
Grinding, Haptics, Machining, Simulation, Feedback, Texture (Materials)
1.
Costa, M. A., and Cutkosky, M. R., 2000, “Roughness Perception of Haptically Displayed Fractal Surfaces,” ASME IMECE, DSC Haptics Symposium, November 5–10, 2000, Orlando, Florida.
2.
Burdea, G. C., and Coiffet, P., 1994, Virtual Reality Technology, John Wiley & Sons, Inc., New York.
3.
Salisbury, J. K., and Srinivasan, M. A., 1992, “Virtual Environment Technology for Training” Sections on Haptics, Virtual Environment Technology for Training, BBN Report No. 7661, The Virtual Environment and Teleoperator Research Consortium (VETREC) affiliated with MIT, BBN Report N. 7661.
4.
McDonnel K., Qin H., and Wlodarczyk R., 2001, “Virtual Clay: A Real-time Sculpting System with Haptic Toolkits,” Proceedings of the 2001 symposium on Interactive 3D graphics, pp. 179–190.
5.
Ehmann
,
S.
,
Gregory
,
A.
, and
Lin
,
M.
,
2001
, “
A Touch-Enabled System for Multi-resolution Modeling, and 3D Painting
,”
Journal of Visualization and Computer Animation
,
12
(
3
), pp.
145
–
158
.
6.
Barnes, D. P., and Counsell, M. S., 1999, “Haptic Communication for Remote Mobile Manipulator Robot Operations,” American Nuclear Society, Proc. 8th Topical Meeting on Robotics & Remote Systems, Pittsburgh, PA, USA.
7.
Volkov
,
S.
, and
Vance
,
J. M.
,
2001
, “
Effectiveness of Haptic Sensation for the Evaluation of Virtual Prototypes
,”
J. Comput. Inf. Sci. Eng.
,
1
(
2
), pp.
123
–
128
.
8.
Kesavadas, T., 1995, “Virtual Reality Based Interactive Automation of a Robotic Die Grinding Operation,” PhD Dissertation, Pennsylvania State University.
9.
Kesavadas
,
T.
, and
Cannon
,
D. J.
,
1995
, “
Virtual Tools with Attributes for Robotic based Intermediate Manufacturing Processes
,”
Journal of Virtual Reality Applications, Research and Development
,
1
(
2
), pp.
71
–
90
.
10.
Gatlin
,
D. S.
,
deVries
,
W. R.
,
Lauderbaugh
,
L. K.
, and
Reiss
,
J. S.
,
1988
, “
A Model for Cusped Surface Grinding Used in Designing a Robotic Die Finishing System
,”
Computer-Aided Design and Manufacture of Molds PED
,
32
, pp.
1
–
17
.
11.
Sharma, C., 2001, “Investigation of Haptic Framework for Quantitative Design Analysis in a Virtual Environment,” MS Thesis, University at Buffalo.
12.
Montgomery, D. C., and Peck, Elizabeth, A., 1992, “An Introduction to Linear Regression Analysis,” New York, John Wiley & Sons.
13.
Montgomery, D. C., 1997, “Design and Analysis of Experiments,” John Wiley & Sons, New York.
Copyright © 2004
 by ASME
You do not currently have access to this content.