沉浸式虚拟维修仿真及其应用

文中给出了沉浸式虚拟维修仿真系统的框架,从样机建模和交互技术两个方面对其关键技术进行了研究。提出了虚拟维修样机的概念,通过定义样机部件的约束运动和交互特征来实现其要求的功能。而交互技术则主要集中在抓取、运动控制和防穿越处理上。对系统在维修性设计分析(核查)、维修程序确认和辅助维修训练中的应用进行了说明。建立了基于Jack系统的沉浸式虚拟维修仿真原型系统,并以某机构的拆装为例对其进行了初步的应用验证。

Immersive Virtual Maintenance Simulation and Its Applications

The focus of this paper lies on developing an immersive virtual maintenance simulation system to meet the demands of virtual maintainability analysis,virtual maintenance procedure validation and virtual maintenance training.This paper presents a framework for simulating maintenance in immersive virtual environments,and introduces the key techniques form prototype modeling and interaction.In prototype modeling,a concept of virtual maintenance prototype(VMP) is reduced,and its functions are implemented by defining constrained-motions and interaction features of all parts of a VMP.In interaction,the aim was at grasping,motion control and penetration handling.The application of this system in maintenance design,analysis,maintenance training and service manual generation is presented.Finally,an immersive virtual maintenance simulation system based on Jack is built and validated by the assembling and disassembling of a machine.