Development of a novel 6DOF multi-contact material cutting model for visio-haptic rendering applications

摘要

In this study, a haptic-based cutting force model and a virtual cutting operation application are developed in which the user is provided to feel the deformable object by probing and then to physically deform it. A cutting force model that depends on the spring-damper method is proposed for interacting with volumetric data for both cutting force and torque calculations in real-time with the flexibility of different cutting tool head shapes, sizes and rotation speeds. The realism of the force-rendering is enhanced in medical and CAD/CAM fields. To compare the realism of the model, however, tooth data is implemented in the application. A novel 6DOF multi-contact method is introduced for reducing the computational load of voxel-based collision checks. For deformation of an object, 'L' shaped tool handles and different tool heads (spherical, conical and flat) with different cutting speeds and sizes are used. Conical and flat tool heads are physically modelled and applied.