基于虚拟现实的数字样机若干关键技术研究与应用
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摘要
虚拟现实以其“可视化”的技术特点能够较完整的表达现实中人无法直接感知的物理特性,这一特性可用于加速大型复杂产品的设计制造过程；基于虚拟现实的数字样机与物理机交互,能使存在于虚拟环境中的虚拟对象与现实世界中的物理对象之间产生直接相关的互动和控制,在增加沉浸效果的同时,能够大大降低相关领域的运营成本、提高生产效率。
本文受国家科技支撑计划“大型全断面掘进机数字样机关键技术研究”项目(2007BAF09801)的子课题“全断面掘进机数字样机关键技术研究”、教育部重点资助项目基于cscw远程控制的机械装备协同设计技术研究(105057)和高等学校博士学科点专项科研基金项目“Web环境下数控机床协同设计及虚拟样机研究”(20060145017),基于虚拟制造系统进行了基于数字样机的仿真技术和交互技术两方面研究,其主要内容如下：
(1)基于Onyx4可视化系统构建了数字样机展示系统。并在此基础上实现了某泥水平衡全断面掘进机的功能展示,验证了系统的可靠性。
(2)建立了某泥水平衡全断面掘进机的三维模型,研究了转换方法并基于OpenGL Performer开发包实现了盾构机的装配过程展示和功能仿真。结果证明程序能够为盾构机功能展示和方案评估提供较大帮助。
(3)基于人体骨架模型设计了一种自然交互方法并构建了交互系统结构,实现了骨架模型的运动功能,为研究数字样机与物理机交互打下基础。
(4)在双中心投影法的基础上提出了能够降低视觉融合困难的可变位差主动立体显示方法,设计了接口,基于Performer和C语言编制了程序,验证了该方法的有效性。
(5)提出了基于虚拟现实的数字样机与物理机交互方法并设计了系统框架,构建了带有底盘和机械臂的机器人,研究了底盘和机械臂运动定位的方法,并进行了底盘和机械臂的运动定位实验,验证了理论的可行性。
(6)基于前文设计了数字样机与物理机交互系统平台结构,研究了利用Arduino和舵机控制器等构建交互平台的方法,基于C语言和Virtools编制了程序,进行了机械臂搬运物体的交互实验,验证了本文提出方法的可行性。
Currently, virtual reality technology has been widely applied in industrial manufacturing, military, digital media and other aspects in foreign countries. Its "visualization" technical features help to make some of the physical properties which human body can not be directly perceived in reality be expressed in a more complete way. The interaction of numerical prototype and real machines based on virtual reality can make virtual objects and real-world physical objects interact directly, realizing remote control through the remote-operation, which increases the visual display effects along with reducing operational costs and improving production efficiency of related fields greatly. However, at home, technology research and application of virtual reality is also still in its early stages. In theory, it is far from forming a mature theory and methodology; while the virtual manufacturing is only focused on product design, rarely in the application. Therefore, the need of further research and exploration is still in urgency.
The dissertation conducted some innovative research on product display and functional simulation based on numerical prototype via virtual reality technology, as well as combing with the subprogram of National Science and Technology Support Program(2007BAF09B01)--"Key technique research on large-scale full-face TBM numerical prototype ",named " Key technique research on full-face TBM numerical prototype", Ministry of Education key financing projects (105057) and College doctor disciplines special scientific research foundation project "Coordinating design of numerical machine tool and virtual prototype research under the web "(20060145017), and the virtual manufacturing system of lab in NEU. The dissertation aimed to simplify the large-scale complex mechanism equipment's demonstration and the design proposal appraisal, and has the help in the advancement digit prototype's application aspect. The main research content is as follows:
(1) Build up application display system of numerical prototype. To Onyx4system as the core, the dissertation established a virtual system for numerical prototype and realized the application display of certain cement balanced full-face TBM, proving the reliability of the system.
(2) Realize the TBM motion simulation based on numerical prototype. On the basis of establishing3D model of TBM, the dissertation completed statistic structure transformation of TBM via Deep Exploration; programmed simulation program based on OpenGL Performer; realized the virtual assembly process and motion simulation of TBM, which will support the simplification of large-scale and complicated mechanical equipment display and the appraisal of design.
(3) Design an interaction method of human skeleton model, based on the control principle of real machine through digital prototype interaction. The dissertation has realized the motion function of human skeleton model through building up the interactive system, which lies a theoretical foundation for the further study of numerical prototype and virtual prototype interaction.
(4) Propose a variable potentiometer active stereo display method helping to reduce the visual integration difficulty. On the basis of stereo display theory and two-center projection algorithm, as well as combined with self-designed ranging interface, the dissertation compiled three-dimensional display program with the use of Performer, VC++and verified the validity of the method.
(5) On the basis of building a interaction framework of numerical prototype and real machine via VR, the dissertation designed a mobile platform and manipulator robots, focusing on the analysis of its chassis movement and positioning methods; making further study of the use of servo drives and motion control of manipulator positioning method, realized the steering gear control, and initially verified the feasibility of interactive systems.
(6) Achieved interaction system validation of numerical prototype and real machine via VR. The dissertation took the method of Arduino Mega controller, VC++to complete the functional process of experimental robot hardware and software, designed the control end of the experimental system, robot system and the monitoring software modules, and further validate the feasibility of the motion interaction system.
本文受国家科技支撑计划“大型全断面掘进机数字样机关键技术研究”项目(2007BAF09801)的子课题“全断面掘进机数字样机关键技术研究”、教育部重点资助项目基于cscw远程控制的机械装备协同设计技术研究(105057)和高等学校博士学科点专项科研基金项目“Web环境下数控机床协同设计及虚拟样机研究”(20060145017),基于虚拟制造系统进行了基于数字样机的仿真技术和交互技术两方面研究,其主要内容如下：
(1)基于Onyx4可视化系统构建了数字样机展示系统。并在此基础上实现了某泥水平衡全断面掘进机的功能展示,验证了系统的可靠性。
(2)建立了某泥水平衡全断面掘进机的三维模型,研究了转换方法并基于OpenGL Performer开发包实现了盾构机的装配过程展示和功能仿真。结果证明程序能够为盾构机功能展示和方案评估提供较大帮助。
(3)基于人体骨架模型设计了一种自然交互方法并构建了交互系统结构,实现了骨架模型的运动功能,为研究数字样机与物理机交互打下基础。
(4)在双中心投影法的基础上提出了能够降低视觉融合困难的可变位差主动立体显示方法,设计了接口,基于Performer和C语言编制了程序,验证了该方法的有效性。
(5)提出了基于虚拟现实的数字样机与物理机交互方法并设计了系统框架,构建了带有底盘和机械臂的机器人,研究了底盘和机械臂运动定位的方法,并进行了底盘和机械臂的运动定位实验,验证了理论的可行性。
(6)基于前文设计了数字样机与物理机交互系统平台结构,研究了利用Arduino和舵机控制器等构建交互平台的方法,基于C语言和Virtools编制了程序,进行了机械臂搬运物体的交互实验,验证了本文提出方法的可行性。
Currently, virtual reality technology has been widely applied in industrial manufacturing, military, digital media and other aspects in foreign countries. Its "visualization" technical features help to make some of the physical properties which human body can not be directly perceived in reality be expressed in a more complete way. The interaction of numerical prototype and real machines based on virtual reality can make virtual objects and real-world physical objects interact directly, realizing remote control through the remote-operation, which increases the visual display effects along with reducing operational costs and improving production efficiency of related fields greatly. However, at home, technology research and application of virtual reality is also still in its early stages. In theory, it is far from forming a mature theory and methodology; while the virtual manufacturing is only focused on product design, rarely in the application. Therefore, the need of further research and exploration is still in urgency.
The dissertation conducted some innovative research on product display and functional simulation based on numerical prototype via virtual reality technology, as well as combing with the subprogram of National Science and Technology Support Program(2007BAF09B01)--"Key technique research on large-scale full-face TBM numerical prototype ",named " Key technique research on full-face TBM numerical prototype", Ministry of Education key financing projects (105057) and College doctor disciplines special scientific research foundation project "Coordinating design of numerical machine tool and virtual prototype research under the web "(20060145017), and the virtual manufacturing system of lab in NEU. The dissertation aimed to simplify the large-scale complex mechanism equipment's demonstration and the design proposal appraisal, and has the help in the advancement digit prototype's application aspect. The main research content is as follows:
(1) Build up application display system of numerical prototype. To Onyx4system as the core, the dissertation established a virtual system for numerical prototype and realized the application display of certain cement balanced full-face TBM, proving the reliability of the system.
(2) Realize the TBM motion simulation based on numerical prototype. On the basis of establishing3D model of TBM, the dissertation completed statistic structure transformation of TBM via Deep Exploration; programmed simulation program based on OpenGL Performer; realized the virtual assembly process and motion simulation of TBM, which will support the simplification of large-scale and complicated mechanical equipment display and the appraisal of design.
(3) Design an interaction method of human skeleton model, based on the control principle of real machine through digital prototype interaction. The dissertation has realized the motion function of human skeleton model through building up the interactive system, which lies a theoretical foundation for the further study of numerical prototype and virtual prototype interaction.
(4) Propose a variable potentiometer active stereo display method helping to reduce the visual integration difficulty. On the basis of stereo display theory and two-center projection algorithm, as well as combined with self-designed ranging interface, the dissertation compiled three-dimensional display program with the use of Performer, VC++and verified the validity of the method.
(5) On the basis of building a interaction framework of numerical prototype and real machine via VR, the dissertation designed a mobile platform and manipulator robots, focusing on the analysis of its chassis movement and positioning methods; making further study of the use of servo drives and motion control of manipulator positioning method, realized the steering gear control, and initially verified the feasibility of interactive systems.
(6) Achieved interaction system validation of numerical prototype and real machine via VR. The dissertation took the method of Arduino Mega controller, VC++to complete the functional process of experimental robot hardware and software, designed the control end of the experimental system, robot system and the monitoring software modules, and further validate the feasibility of the motion interaction system.
引文
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