沉浸式虚拟维修仿真系统及其实现

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所要求功能，而交互技术则主要集中在抓取和防穿越处理上．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。

Development of An Immersive Virtual Maintenance Simulation System

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 for prototype modeling and interaction. In prototype modeling, a concept of virtual maintenance prototype (VMP) is put forward, and its functions are realized by defining constrained-motions and interaction features of all parts of a VMP. In interaction, the main concern is on grasping and penetration handling. Finally, a sample is given on the establishment and validation of an immersive virtual maintenance simulation system based on Jack through the assembling and disassembling of a machine.