Interactive mechanical design variation for haptics and CAD

A fast design variation technique for mechanical systems is presented It is used to interactively optimize mechanical characteristics while "self-asse mbling" or satisfying large systems of mechanical constraints. The high spe ed method is central to providing inverse dynamics force feedback in haptic s and control applications. Performance advantages with the use of augmente d coordinates for inverse dynamics of closed loop topologies are also noted . The interaction framework allows manipulation of complex assemblies while maintaining kinematically admissible configurations though linkage and joi nt limit constraints. Furthermore, design variables such as link length can be treated as free variables and optimized to meet design criteria such as assembly dexterity. Assemblies with flexible bodies fit naturally within t his framework. Thus, the contribution of this paper is the advancement of t echniques in augmented coordinates for the kinematic and force feedback int eraction with virtual mechanical assembly design optimization at force cont rol rates.