A collision response method in virtual environment of peg-in-hole microassembly

Micromanipulation has been recognized to be very difficult due to the inefficiency of traditional micromanipulation methods. The paper presents a general framework for micromanipulation robot based on virtual reality technology. Based on this, we bring forward two-level collision detection system to handle the collision detection of the peg-in-hole microassembly successfully. The collision response model for the collision between micro needle and hole is presented. The virtual force and corresponding displacement can be calculated with the model of bending deformation and pressing deformation. Experiments verify the validity of collision response model.