On motion planning for narrow-clearance assemblies using virtual manikins

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Digital Human Modeling (DHM) is an important tool to improve assembly ergonomics and thereby also productivity and product quality. State-of-art DHM tools can simulate challenging assembly operations by solving inverse kinematic problems so that the positions/orientations of the hands/feet of a manikin match some manually-specified targets. However, it is still difficult and time-consuming for a simulation engineer to perform an assembly with narrow insertion clearances by manually setting hand targets. We present a novel and highly automated approach that explores the 4D space (position of a fingertip plus pronation/supination of the arm) around an initial path for a sphere.




Li, Y., Delfs, N., Mårdberg, P., Bohlin, R., & Carlson, J. S. (2018). On motion planning for narrow-clearance assemblies using virtual manikins. In Procedia CIRP (Vol. 72, pp. 790–795). Elsevier B.V. https://doi.org/10.1016/j.procir.2018.03.181

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