摘要
提出了一种基于多体动力学计算引擎的虚拟装配仿真框架,并对该仿真框架涉及的多面体近似凸集分解算法、并行碰撞检测、仿真场景构建、仿真模型定义与处理等关键技术进行了研究。基于该仿真框架,维修装配人员可以完全沉浸在虚拟装配环境中,采用数据手套、光学跟踪器和其他虚拟外设与装配零部件进行交互,从而体验真实的维修装配感觉,达到装配维修训练与试装配的目的。最后,在一个多人沉浸式虚拟现实硬件平台下开发虚拟维修装配仿真原型系统,以齿轮箱的拆装作为实例,验证了该仿真框架的有效性,为装配操作人员提供了一种优良的沉浸式用户操作界面。
It proposes a multi-body system dynamics supported virtual assembly framework in the immersive virtual reality environment, and shows the detail of key technologies around this framework such as approxi- mate convex decomposition of polyhedron, concurrent collision detect, scene graph construction, simulation model definition and handle and etc. Based on this virtual assembly maintenance framework, and by using da- ta gloves, optical trackers and other virtual interactive devices, it carries out the assembly interaction intu- itively and immersive in the computer simulation virtual assembly environment. It takes gearbox disassembly process as an example. The simulation processes and the simulation result validate the feasibility and good immersive user interface of this simulation framework.
关键词
沉浸式
虚拟现实
多体系统动力学
装配
人机交互
Immersive
Virtual Reality
Multi - body System Dynamics
Assembly
Human - computer Interaction
