摘要
为了在虚拟环境中准确定位零件模型,并对后期装配过程进行真实仿真,提出一种力引导的装配定位方法。将后期装配过程划分为N个仿真时刻,在每个时刻建立关于零件位置、姿态、重力、装配力、接触力和装配转矩的动力学运动方程组,求解方程组得到下一时刻零件的位置、姿态、速度和角速度,直到零件与目标位姿满足装配要求。给出了零件属性、视觉和人机等因素影响下,装配力、接触力和装配转矩的计算方法。分析了视觉因素和人机因素对装配效率和成功率的影响,以及结构因素对零件可装配性的影响。该方法已应用于某自主开发的虚拟装配原型系统,实践证明它可以真实准确地对虚拟零件进行装配引导。
To position the parts model accurately and simulate the later assembly process realistically in virtual envi- ronrnent, a assembly location method based on force guidance was proposed. The later assembly process was divided into N simulation moments. At each moment, the dynamic motion equations of part＇s position, attitude, gravity, assembly forces and assembly torque were established. By solving the motion equations, the position, attitude, ve- locity and angular velocity of the assembling part at the next moment were obtained, and the process of pose trans- formation was repeated until a certain pose and the target pose of the assembling part satisfy the assembly require- ments. Under the affection of part properties, visual and human factors, the calculation methods of assembly force, contact force and assembly torque were given. The effects of the visual and human factors on the assembly efficiency and success rate were analyzed, and the influence of structural factors on product assemblability was also discussed. This algorithm was applied to a self-developed virtual assembly prototype system, and the result showed that this al- gorithm could provide a realistic and accurate assembly motion navigation in virtual space.
出处
《计算机集成制造系统》
EI
CSCD
北大核心
2013年第10期2407-2416,共10页
Computer Integrated Manufacturing Systems
基金
教育部高等学校博士学科点专项科研基金资助项目(20120203110015)~~
关键词
虚拟装配
装配定位
后期装配
装配力
过程仿真
virtual assembly assembly location later assembly assembly force process simulation
