JP4334402B2 - Assembly simulation device for linear flexible objects - Google Patents

Description

  The present invention relates to a screen of an image display device in which a linear flexible object that is arranged in a state in which a plurality of constrained parts spaced apart from each other are assembled in a constrained manner by constraining a constrained part of a wiring part to a constraining part of a wiring part. The next constrained displayed in the three-dimensional virtual space displayed on the 3D virtual space, followed by the constrained part that has been assembled and whose position is indicated in the three-dimensional virtual space, for the simulation of the assembly work. The present invention relates to a linear flexible object assembly simulation apparatus in which a force sense corresponding to an operation force required for assembly is given when a region is moved to an associated restraint region.

  In the design of industrial products, rigidity analysis by the finite element method has been widely performed. For example, according to Patent Document 1, the number of elements and the number of nodes are reduced in order to reduce the number of trial production of automobile tires. A method for creating a tire analysis model that simulates the overall tire performance in a mounted state such as deformation analysis is efficiently disclosed.

  On the other hand, according to Patent Document 2, in order to reduce the calculation load of deformation analysis and evaluate the deformation analysis on the screen, the linear flexible object is not dependent on the finite element method. Data input process for 3D design data of the wire harness routed in the vehicle, image display process for displaying the image of the reference wiring data as a background image in the 3D virtual space, and overlaying the 3D design data on the background image A three-dimensional design data display step for displaying, and a three-dimensional data transformation step for changing and displaying the shape of the wire harness as the three-dimensional design data in accordance with the input by the data input means. A three-dimensional virtual assembly method for a wire harness is disclosed in which three-dimensional design data is moved in space and associated with a reference wiring data image by polygon processing / display. As a result, it is attempted to set the wiring state without repeating the prototype, avoiding the occurrence of insufficient dimensions, unreasonable mounting angles, etc. when the prototype of the wire harness is routed to the vehicle.

Further, in the field of virtual reality, such as performing an operation simulating an actual operation in the three-dimensional virtual space of the screen, according to Patent Document 3, an operation reaction force is given to the operator according to the display content of the screen. In order to give a feeling of operation, in a pointing device that performs positioning by manual operation from the output signal of the rotary encoder that responds to the rotation of the roller that contacts and rotates with the rotatable spherical tire, a feedback motor may be attached to the roller. Proposed. Or, according to Patent Document 4, for a surgical training simulator or the like using a catheter of a display device and a computer, a virtual object is touched in a three-dimensional virtual reality space, and its geometrical physical properties such as shape and hardness are touched. A force feedback interface device using force feedback for experiencing information input has been proposed. Furthermore, as such a force sensation presentation device, the actuator of the active joint is driven based on the difference between the force sensation to be presented with the force sensation attached to the fingertip and the output value of the force sensation according to Document 5. Various proposals have been made by the literature 6 such as presenting a force sense of the strength of a force when touching an object in a virtual space.
JP 2002-82998 A JP 2002-373533 A Japanese Patent Laid-Open No. 7-13893 JP 2000-181618 A JP 2002-182817 A JP 2003-337653 A

  Regardless of whether or not it depends on the analysis finite element method including the analysis method described above, the rigidity analysis generally obtains a specific analysis result for a specific input condition. In the deformation analysis of such a linear flexible object, the deformation shape corresponding to the input condition is uniquely confirmed. In other words, for example, for a wire harness, there is no analysis device that visually confirms the deformation of the linear flexible object with respect to the movement of the specific part.

  Therefore, according to Japanese Patent Application No. 2003-189201, the present applicant specifies an image display unit that performs graphic display imitating the three-dimensional shape of a flexible object in a three-dimensional virtual space on the screen, and specifies a flexible object constrained at a predetermined part. Coordinate value recognition means for recognizing the movement position where the part is instructed and moved on the screen as the three-dimensional coordinate value of the three-dimensional virtual space, and the physical property data, shape data, and constraint conditions of the flexible object as input conditions Deformation analysis model is sequentially created by analyzing the deformation model of the initial state of flexible object with the movement of the specific part by the finite element method in response to the three-dimensional coordinate value data of the moved position An apparatus for analyzing deformation of a flexible object, wherein the image display means sequentially performs graphic display imitating the three-dimensional shape of the deformed flexible object in response to the analyzed deformation analysis model. The proposal.

  As a result, the deformation process of the wire harness shape when the constrained part attached with the clamp device of the linear flexible object such as the wire harness or the restraint device such as the connector is moved during the assembly can be accurately performed by the finite element method. In addition to being analyzed sequentially, it is displayed imitating its three-dimensional shape, so interference with peripheral parts when mounting a flexible part, or interference with peripheral parts due to variations in the mounting state, etc. Problems associated with deformation can be evaluated on the screen with high accuracy. However, this analysis is performed by operating a mouse or the like in the three-dimensional virtual space, and the operation force corresponding to the reaction force of the wire harness itself or the operation force necessary for the assembly work to be engaged by the restraint tool. It is not taken into consideration until you feel it. Therefore, it is not possible to grasp in advance the work sensation such as a smooth wire harness operation path or operation force in actual assembly work, and it is not possible to accurately evaluate the work load in advance.

  In view of these points, the present invention analyzes the deformation shape in the process of moving the constrained part of the linear flexible object to the constrained part during the assembly work of the linear flexible object, and displays it on the screen. And a linear flexible object assembly simulation apparatus capable of giving a force sense corresponding to an operation force required for assembly in the process of being restrained by a restraint tool at a restraint site from a non-restraint position. The purpose is to provide.

In order to achieve this object, according to the present invention, according to claim 1, a plurality of constrained parts spaced apart from each other are arranged in a state of being constrained to a constraining part of the cabling part by a restraining tool in order. The linear flexible object to be displayed is displayed in the three-dimensional virtual space displayed on the screen of the image display device, and the assembly is performed next to the constrained part already assembled for the simulation of the assembly operation. When the next constrained part designated in the three-dimensional virtual space is moved to the belonging constrained part, a force sense corresponding to the operation force required for the assembly is given. An assembly simulation apparatus for linear flexible objects, which is movable at a three-dimensional position, and has distal ends of movable members 12, 14, 16) to which displacement sensors (S1 to S3) and actuators (M1 to M3) are attached. In addition, restrained part (P4, P5) The three-dimensional position indicated by a manual operation, and as the force is applied, force sense presenting equipped with a ball-shaped pointer grips with hand (11) and (10), by displacement sensors (S1 to S3) Three-dimensional coordinate value data that defines the three-dimensional position of the next constrained part (P4, P5) indicated by the pointer (11) in response to the displacement position detection signal of the movable member (12, 14, 16). The coordinate data output means (25) for outputting in accordance with a manual operation , and movable members (12, 14, 16) which are movable to a three-dimensional position and which are attached with displacement sensors (S1 to S3) and actuators (M1 to M3). ), A force sense presenter provided with a ball-shaped pointer (11) to be grasped with a hand so that the three-dimensional position of the restrained part (P4, P5) is manually indicated and a force sense is given . (10) and linear flexibility Using the physical property data and shape data of (5) and the constraint conditions including the three-dimensional positions of the constraint sites (P1 to P3) and the constraint sites (P4, P5) as input conditions, the next constraint site ( Deformation shape of the linear flexible object (5) in the moving process for moving P4, P5) toward the associated restrained part (P1 to P3) and the reaction force generated in the next constrained part (P4, P5) in the moving process The analysis means (21) for analyzing the finite element method and the restraint operation required to restrain the restrained part (P4, P5) to the belonging restraint part (P1 to P3) by the restraint tool (6; 7, 7a) The load data storage means (22) for storing the load data between strokes , and the reaction force in the moving process until the restrained part (P4, P5) is restrained by the restraint part (P2, P3) Restraint operation strike In the process of movement between the rooks, the operating force data output means (23) for outputting the operating force data to add the load data to the reaction force to obtain the operating force, and the actuators (M1 to M1) corresponding to the magnitude and direction of the operating force. A force signal generating means (24) for generating a force signal as a drive input signal of M3) and a three-dimensional shape of the linear flexible object (5) in response to the analyzed deformed shape; Image display means (20) for performing graphic display including the attached and the next constrained part (P4, P5) in the three-dimensional virtual space, and the force signal for the actuators (M1 to M3) is three-dimensional. A force sense corresponding to the operating force is given to the pointer (11) which is manually operated so as to move the next constrained part (P4, P5) to the belonging constrained part (P2, P3) in the virtual space. Characteristic that is set To.

  The deformed shape of the linear flexible object between the constrained constrained part and the constrained part where the three-dimensional position is pointed to by the pointer so as to be constrained next is analyzed by the finite element method, and the three-dimensional virtual on the screen Displayed in space. The hand holding the pointer is not subjected to non-reaction by the driving force of the actuator driven in response to the reaction force that changes according to the analyzed deformed shape and the force signal corresponding to the load required for the restraining operation by the restraining tool. A force sense corresponding to an operation force required for assembly when moving or restraining the restrained part next to the restraint toward the restraining part to which it belongs is given.

  In order to simulate the assembling work when continuously moving the constrained part from the non-restraint position to the belonging constrained part, according to claim 2, the analysis means can perform the manual operation of the pointer in the three-dimensional virtual space. The deformation shape and reaction force of the movement process in which the constrained part moves to the belonging constraining part are analyzed at predetermined intervals.

  To simulate the assembly work of attaching a connector to the tip of the wire harness routed in the automobile body and bending the wire harness tip toward the connector seat from the routing direction along the routing section toward the restraint site According to claim 3, a wire harness in which a linear flexible object is routed to a routing portion which is an instrument panel of an automobile or its surrounding body, and a connector is attached as a restraining tool to a restrained portion at the tip. Yes, the analysis means is deformed with the wiring direction as a constraint condition to bend the wire harness tip from the routing direction along the routing part toward the restraint site so that the connector faces the connector seat of the restraint site to which it belongs And analyze the reaction force.

  According to the invention of claim 1, the deformed shape when assembling by moving the constrained part of the linear flexible object to the belonging constrained part is displayed imitating the three-dimensional shape, and for assembling Necessary operating force in the entire process is experienced, and therefore, assembly work of linear flexible objects such as wire harnesses can be simulated by vision and force sense. Therefore, it is possible to evaluate in advance the load of the actual assembly work in the designed routing state, and the operator can manually operate the force sense display device while looking at the screen, so that work mistakes at the initial stage that are not used to the operator can be avoided. It is possible to suppress this, and to work efficiently from the initial stage. According to the second aspect of the present invention, the actual assembly work can be easily simulated by continuously moving the constrained part to the belonging constraining part from the unconstrained position on the screen. According to the invention of claim 3, it is possible to simulate an assembling operation that is routed to an automobile body and needs to bend a wire harness tip greatly during restraint by being attached to a connector, and the bent state at that time is greatly bent The three-dimensional shape and the operation force when mounted on the connector seat can be experienced.

  A wire harness assembly simulation apparatus according to an embodiment of the present invention will be described with reference to FIGS. The wire harness is a linear flexible object that is a bundle of electric wires having flexibility, bending elasticity, and the like, and is wired while being intermittently restrained by a wiring portion that is an instrument panel of an automobile or its surrounding body. The simulation apparatus is equipped with an image display apparatus 1 that displays on the screen 1a and a ball-shaped pointer 11 that is set in a three-dimensional space by manual operation to indicate the three-dimensional position of the constrained part and force. A force sensation display device 10 that gives a sense of sensation, an input unit 1b having a keyboard 2, a mouse 3, and a storage medium reader 4 are attached, and a program including a CPU, a memory, etc. as a data processing device The computer which comprises each part mentioned later by act | operating by is provided.

  The force sense presenter 10 has a two-dimensional vertical arm 12 and 14 as two movable members movable relative to each other on a vertical pole 16 as a movable member that is supported by a base 19 so as to be rotatable around a vertical rotation axis. It is configured to be sequentially connected through joint portions 13 and 15 so as to be rotatable on the surface. A ball-shaped pointer 11 is attached to the tip of the arm 12, and motors M1 and M2 as actuators for rotationally driving drive pins 12a and 14a attached to the arms 12 and 14 and joints 13 and 15 respectively. Displacement sensors S1 and S2 for detecting the rotational position of the motor are provided, respectively, and the base 19 is provided with a motor M3 for rotationally driving the vertical pole 16 and a displacement sensor S3 for detecting the rotational position.

  The aforementioned computer imitates a three-dimensional shape of a wire harness and its restraining tools such as a clamp tool and a connector in a three-dimensional virtual space of a screen 1a corresponding to a CAD three-dimensional coordinate system for analysis by the finite element method. In response to the detection signals from the image display means 20 and the displacement sensors S1 to S3, the three-dimensional position of the constrained part indicated by the manually operated pointer 11 is represented in the above-described three-dimensional coordinate system for analysis. Coordinate data output means 25 for outputting as three-dimensional coordinate data, and the constraint condition including the physical property data and shape data of the wire harness, and the three-dimensional coordinate value of the three-dimensional position of the constrained part indicated by the constrained part and the pointer 11 As a condition, the next restraint in the three-dimensional position indicated by the pointer of the wire harness in which the immediately restrained part is restrained by the belonging restraining part. Move the wire from the non-restraining position to the associated restraint site, and then move to the position restrained by the restraint at the restraint site and analyze the deformed shape of the wire harness using the finite element method to create an analysis model Based on the deformation analysis unit 21a and the above-described input conditions, the reaction force generated in the constrained part is analyzed by the finite element method toward the constrained part in the moving process according to the deformed shape, the weight applied to the unconstrained constrained part, and the like. Analyzing means 21 having a reaction force analysis unit 21b, a load data storage unit 22 for storing load data specific to a restraining tool required for restraining the restrained part to a restraining part to which the restraint part belongs, and a restrained part In the movement process that moves toward the restrained part to which it belongs, the reaction force of the analysis result of the reaction force analysis unit 21b is used as the operation force required for assembling the wire harness, and restraint by the restraint tool During a predetermined restraining operation stroke, each of the operation force data output means 23 for outputting operation force data that adds the load data to the aforementioned reaction force to obtain an operation force, and the pointer 11 held by the hand. By combining the driving forces of the motors M1 to M3, driving input signals having signal levels distributed to the motors M1 to M3 based on the operating force data so as to give a sense of force corresponding to the operating force, that is, the reaction force. Force sensor generating means 24 that generates a force sensor is provided.

The coordinate data output means 25 will be described with reference to FIG. 5 showing the display state on the screen 1a with respect to the terminal area of the wire harness 5. The restrained parts P1 to P3 designated by the mouse 3 are used as the origin, and the restrained part P4 to which they belong. In order to define the three-dimensional position of P5, the detection signals of the displacement sensors S1 to S3 that change according to the operation position by the movement operation of the pointer 11 are converted into the three-dimensional coordinate value data of the above-described three-dimensional coordinate system for analysis. And output. In response to the analysis model of the wire harness 5 to be deformed, the image display means 20 performs graphic processing based on the prestored three-dimensional shape data and displays a graphic display imitating the actual three-dimensional shape on the screen 1a. The three-dimensional shape of the clamp tool 6, the connector 7, the mounting hole 6a, and the connector seat 7a attached to the restrained portions P3 and P4 of the wire harness 5 is also displayed.

  FIG. 2 shows a clamp tool 6 that is attached in advance to a constrained part in the middle of the wire harness 5, and includes a band 61 that holds the wire harness 5, is inserted into the base portion 65, and is locked. Is formed by a pair of claw portions 62 which are bent by pressing and are fitted into the mounting holes 6a of the routing portion and engage with the engaging grooves 63 on the periphery thereof. Therefore, the load data storage means 22 stores load data (see FIG. 3) that changes with respect to, for example, a 10 mm restraining operation stroke for inserting and restraining the claw portion 62, and similarly, the load data storage means 22 covers the tip of the wire harness 5. Load data for a predetermined restraining operation stroke when the connector 7 attached to the restraining part is inserted into the connector seat 7a is also stored.

  In FIG. 5, the positions of the restraining sites P1 to P3 that are spaced by, for example, 20 to 30 cm on the routing portion and the positions of the restrained sites P3 and P4 on the corresponding wire harness 5 are the three-dimensional coordinates of the CAD for analysis. It is preset on the system. For example, as shown in FIG. 5A, the analysis means 21 is instructed by the force sense presenter 10 with the assembling point P1 instructed by the mouse 3 on the screen 1a and the restricting part P1 that has been assembled immediately before being the origin. The restraint point is the three-dimensional coordinate value of the associated restrained part P4, and further, physical properties such as the Young's modulus, Poisson's ratio, and density of the unit wire of the wire harness 5 and its covering, the number of cross sections, the number, the overall cross section and length, etc. An analysis model of the center line of the deformed shape of the wire harness 5 between the constrained part P4 and the constrained part P1 is created using the analysis conditions necessary for the deformation analysis of the shape data of the wire harness 5 as input conditions. At that time, in the process in which the constrained part P4 continuously moves toward the constraining constrained part P2 according to the instruction of the mouse 3 on the screen 1a, the analysis model is automatically determined to the finally constrained position. And the reaction force generated in the constrained part P4 in response to the deformation of the wire harness 5 each time, assuming the weight of the unattached wire harness region and restraining it. The tool weight is also analyzed in addition to the input conditions. When the restrained part P5 restrained by the connector 7 at the tip of the wire harness 5 is moved toward the restraining part P3 to which the wire harness 5 belongs, as shown in FIG. The deformed shape or reaction force is analyzed under the constraint of the routing direction in which the tip of 5 is bent from the routing direction along the routing portion toward the direction facing the restraint site P3. In addition, instead of the predetermined distance interval, the analysis model may be sequentially created at a predetermined time interval corresponding to, for example, the calculation processing time.

  The haptic signal generating means 24 displays a driving input signal having a signal level determined according to the magnitude of the operating force based on a predetermined distribution ratio of the driving forces of the motors M1 to M3 corresponding to the direction of the operating force. As shown in FIG. 4, it is supplied as a force signal to the drive circuits 31 to 33 of the motors M1 to M3, and the associated drive pins 12a and 14a and the vertical pole 16 are rotationally driven. Accordingly, a corresponding force sense is given by the driving force in the direction opposite to the operation direction in a state where the pointer 11 held by the hand is stopped, and the pointer 11 belongs to the restrained parts P2 and P3 by the pointer 11 in the three-dimensional virtual space. When the restrained parts P4 and P5 are moved, a corresponding changing force sense is given. The vertical pole 16 and the joints 13 and 15 may be configured such that a force is given only when the vertical pole 16 and the joints 13 and 15 are gripped so that the pointer 11 does not move even when the gripped hand is released. it can.

  The operation of the wire harness assembly simulation apparatus configured as described above will be described with reference to FIG. In the three-dimensional virtual space of the screen 1a, for example, the termination region of the routing portion is displayed by a selection command of the keyboard 2, and the wire harness 5 is already restrained by the restraint part P1 by the clamp tool 6 as shown in FIG. . When the next restraint site P2 of the mounting hole 6a is designated by the mouse 3, the clamp tool 6 of the next restraint site P4 located at the position designated by the pointer 11 is displayed with this restraint site as the origin. The region between the constrained part P4 and the constrained part P1 is subjected to deformation analysis and displayed. In addition, the display of the wire harness 5 ahead of the vicinity of the constrained part P4 is not performed, and the connector seat 7a is displayed in the last constrained part P3. At the same time, taking into account the weight of the front region, the reaction force generated toward the restraint site P2 in the restraint site P4 corresponding to the deformed shape between the restraint site P2 and the restraint site P4 is analyzed, and the pointer 11 is held. In the hand, a driving force is generated by the motors M1 to M3 in the direction opposite to the direction toward the restraint site P2, and the operating force when moving the clamp tool 6 toward the mounting hole 6a is experienced.

  When the pointer 11 is continuously moved so that the constrained part P4 moves toward the constrained part P2 on the screen 1a, the deformed shape of the wire harness 5 is sequentially displayed and the force sense is also sequentially updated. In FIG. 5A, for the sake of simplicity, a deformed shape at only one place in the middle is indicated by a two-dot chain line. In the process in which the clamp tool 6 is moved to the mounting hole 6a and moved by a predetermined restraining operation stroke substantially coincident with the clamp mounting direction, that is, the restraining operation direction, load data necessary for mounting the clamp tool 6 is a force signal. Therefore, a relatively large operating force corresponding to an actual restraining operation for fitting the claw portion 62 into the mounting hole 6a and engaging the engaging groove 63 with the peripheral portion is experienced.

Thereby, on the screen 1a, the assembled state up to the restraint site P2 is displayed as indicated by the solid line in FIG. When the mouse 3 indicates the connector seat 7a located at the restraint site P3 as the next restraint site, the position signal detected by the force sense presenter 10 and switching the origin to the restraint site P3 is converted into three-dimensional coordinate value data. The connector 7 at a position corresponding to the operation position of the pointer 11 is displayed as the next constrained part . When the connector 7 is moved toward the connector seat 7a on the screen 1a by manual operation of the pointer 11, the deformed shape of the wire harness 5 is sequentially displayed, and is indicated by a two-dot chain line at a predetermined approach position with respect to the connector seat 7a. In this way, the deformed shape of the state in which the tip of the wire harness 5 is bent by about 90 ° with respect to the routing direction along the routing portion and the connector 7 faces the connector seat 7a is analyzed and displayed, and the corresponding operation is performed. A force sensation of force is applied to the pointer 11, and finally, an operation force accompanying pin engagement at the connector seat 7a is experienced during a predetermined restraint operation stroke. FIG. C shows the final routing state.

  Thereby, when performing the wiring work of the wire harness 5 to the vehicle that is sequentially conveyed, the first operator can feel the operating force while checking the deformation state of the wire harness 5 on the screen in advance. Thus, the assembly work of the wire harness 5 can be simulated by vision and force sense. By switching the display screen, it is possible to simulate the assembling work of the further proximal end region of the wire harness 5. Therefore, when the operator confirms the screen and operates the pointer 11 to train the assembly work, it is possible to eliminate work mistakes from the initial stage and to work efficiently. In addition, the routing design such as the position setting of the restraint portion of the wire harness 5 with respect to the routing portion can be evaluated from the viewpoint of the work load.

  As another embodiment, the present invention can be applied to a case where a pipe or the like exhibiting bending elasticity as a linear flexible object is intermittently assembled with a clamp. Various methods are well known as the basic configuration of the force sense presenter, and not only the motor but also hydraulic pressure, electromagnetic force, or the like can be configured as an actuator.

It is a figure which shows the structure of the assembly | attachment simulation apparatus of the wire harness by embodiment of this invention. It is a perspective view of the clamp tool attached to the wire harness beforehand. It is a figure explaining the load data required when attaching the clamp tool to a mounting hole. It is a figure explaining the drive method of the motor as an actuator attached to the force sense presenter of the apparatus. It is a figure which shows the display screen explaining the simulation process by the apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1a Screen 3 Mouse 5 Wire harness 6 Clamping tool 6a Mounting hole 7 Connector 7a Connector seat 10 Force display 11 Pointer M1-M3 Motor S1-S3 Displacement sensor

Claims (3)

A linear flexible object that is arranged in a state in which a plurality of constrained parts spaced apart from each other are attached to a constraining part of the cabling unit in order by restraining them with a restraining tool is displayed on the screen of the image display device. The next indicated in the three-dimensional virtual space, which is displayed in the three-dimensional virtual space and is to be assembled next to the constrained part that has been assembled for simulation of the assembly work. When the constrained part is moved to the constraining part to which it belongs, an assembly simulation device for a linear flexible object in which a force sense corresponding to an operation force required for assembly is given,
The tip of a movable member that is movable to a three-dimensional position and that includes a displacement sensor and an actuator is manually pointed to the three-dimensional position of the constrained part and a force sense is given by hand. In response to a detection signal of the displacement position of the movable member by the displacement sensor and a force sense presenter having a ball-shaped pointer for gripping, a three-dimensional position of the next constrained part indicated by the pointer is defined Coordinate data output means for outputting three-dimensional coordinate value data to be performed according to the manual operation , physical property data and shape data of the linear flexible object, and constraint conditions including the three-dimensional positions of the restraint site and the restraint site as input conditions As described above, the deformed shape of the linear flexible object in the moving process and the moving process in which the pointer moves the next constrained part toward the constraining part to which it belongs. Analysis means for the reaction force generated following the in the restraint portion is analyzed by the finite element method, stores load data between constraining operation stroke requiring the restrained portion when to be bound by the restraint portion belongs by the restraint wherein the reaction force and the load data storage means, said in the moving process until the restraint portion is restrained operated by the restraint portion to the reaction force and the operating force in the moving process between the restraining operation stroke of Operation force data output means for outputting operation force data as the operation force by adding load data, and a force signal serving as a drive input signal for the actuator corresponding to the magnitude and direction of the operation force are generated. A force signal generating means, a graphic imitating the three-dimensional shape of the linear flexible object in response to the analyzed deformed shape, and including the assembled and the next constrained site And an image display means to perform a click displayed on the three-dimensional virtual space,
The force sense signal to the actuator, a force corresponding to the operating force following the restrained portion in the three-dimensional virtual space with respect to the said pointer to be manually operated to move the restraint portion belongs An assembly simulation apparatus for linear flexible objects, characterized by being set to give.   The analyzing means analyzes a deformed shape and a reaction force of a moving process in which a constrained part moves to a belonging constrained part in a three-dimensional virtual space by continuous manual operation of a pointer at predetermined intervals. The assembly load analysis apparatus for linear flexible objects according to 1. A linear flexible object is a wire harness that is routed to a routing portion that is an instrument panel of an automobile or its surrounding body, and a connector is attached as a restraint to the restrained portion at the tip,
As a constraint condition, the analysis means bends the tip of the wire harness from the routing direction along the routing portion toward the constraint site so that the connector faces the connector seat of the associated constraint site. The assembly simulation apparatus for linear flexible objects according to claim 1 or 2, wherein the deformation shape and the reaction force are analyzed.

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