Spherical mechanism synthesis in virtual reality

This paper presents a new approach to using virtual reality (VR) to design spherical mechanisms. VR provides a three-dimensional (3-D) design space wh ere a designer can input design positions using a combination of hand gestu res and motions and view the resultant mechanism in stereo using natural he ad movement to change the viewpoint. Because of the three-dimensional natur e of the design and verification of spherical mechanisms, VR is examined as a new design interface in this research. In addition to providing a VR env ironment for design, the research presented in this paper has focused on de veloping a "design in context" approach to spherical mechanism design. Prev ious design methods have involved placing coordinate frames along the surfa ce of a constraint sphere. The new "design in context" approach allows a de signer to freely place geometric models of movable objects inside an enviro nment consisting of fixed objects. The fixed objects could either act as a base for a mechanism or be potential sources of interference with the motio n of the the mechanism. This approach allows a designer to perform kinemati c synthesis of a mechanism while giving consideration to the interaction of that mechanism with its application environment.