Operators suffer much difficulty in manipulating micro-size objects without the assistance of friendly interfaces due to the scaling effects in micro world. The paper presented a general framework for micromanipulation robot based on virtual reality technology. With the framework we brought forward a FDH (Fixed Direction Hulls) based bounding box method to handle the collision detection of the peg-in-hole microassembly. The collision response model for the collision between micro needle and hole was presented. The virtual force and corresponding displacement were calculated with the model of bending deformation and pressing deformation. Experiments verify the validity of collision response model.
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