航天员舱外活动安全绳虚拟现实操作仿真方法研究
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摘要
为了解决航天员舱外活动虚拟现实训练仿真中安全绳的逼真仿真问题,分析了安全绳的结构组成和神七任务航天员出舱过程微重力下的安全绳变形规律,对安全绳采用质点-直线弹簧-弯曲弹簧模型建模,使用基于位置的仿真方法计算了安全绳的变形,给出了安全绳的仿真参数,建立了航天员舱外活动安全绳操作仿真系统。开展了受试者试验,仿真结果表明,仿真方法实时有效,可为航天员虚拟现实舱外维修仿真提供基础算法。
To realize better simulation of the safety rope during the astronaut extravehicular activity(EVA) training in virtual reality(VR), the structure of the safety rope and the mechanical characteristics of the safety rope deformation during SZ-7 EVA in microgravity were analyzed. The mass-linear spring-bending spring model was established and the position-based simulation method was used to calculate the model. The parameters of simulated rope were given and the values of the parameters were validated by experiments. The results showed that the simulation method was effective. It may provide a basic algorithm for the simulation of astronaut EVA maintenance training in VR.
To realize better simulation of the safety rope during the astronaut extravehicular activity(EVA) training in virtual reality(VR), the structure of the safety rope and the mechanical characteristics of the safety rope deformation during SZ-7 EVA in microgravity were analyzed. The mass-linear spring-bending spring model was established and the position-based simulation method was used to calculate the model. The parameters of simulated rope were given and the values of the parameters were validated by experiments. The results showed that the simulation method was effective. It may provide a basic algorithm for the simulation of astronaut EVA maintenance training in VR.
引文
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[12] 神七问天[EB/OL]. CCTV, 2008. (2008-09-27)[2018-11]. Shenzhou 7 quests for the Heavens[EB/OL]. CCTV, 2008. (2008-09-27)[2018-11].(in Chinese) http://tv.cntv.cn/video/C16254/604d582a094b4f10c9d665a6a901dc43
[13] Virtual Method Studio, Inc. Obi physics for unity tutorials[EB/OL]. Madrid Spain: Virtual Method Studio Inc, 2017. (2017)[2018]. http://obi.virtualmethodsudio.com/tutorials/index.html.
[2] 梁民仓, 尹勇. 船用柔性绳索的仿真研究[J]. 系统仿真学报, 2016, 28(9): 1495-1956.Liang Mincang, Yin Yong. Research on simulation of flexible rope for ship[J]. Journal of System Simulation, 2016, 28(9): 1495-1956.(in Chinese)
[3] 梁民仓, 尹勇. 船用柔性绳索收绞的过程仿真[J]. 船海工程, 2017, 46(1): 157-161.Liang Mincang, Yin Yong. Process simulation of winching the marine flexible rope[J]. Ship & Ocean Engineering, 2017, 46(1): 157-161.(in Chinese)
[4] Loock A, Sch?mer E, Stadtwald I. A virtual environment for interactive assembly simulation: From rigid bodies to deformable cables[C]//5thWorld Multiconference on Systemics, Cybernetics and Informatics (SCI’01). 2001, 3: 325-332.
[5] 刘检华, 赵涛, 王春生, 等. 虚拟环境下的活动线缆物理特性建模与运动仿真技术[J]. 机械工程学报, 2011, 47(9):117-124.Liu Jianhua, Zhao Tao, Wang Chunsheng, et al. Motional cable harness physical characteristic-oriented modeling and kinetic simulation technology in virtual environment[J]. Journal of Mechanical Engineering, 2011, 47(9): 117-124.(in Chinese)
[6] Liu Jianhua, Zhao Tao, Ning Ruxin, et al. Physics-based modeling and simulation for motional cable harness design[J]. Chinese Journal of Mechanical Engineering, 2014, 27(5): 1075-1082.
[7] 胡晓楠, 张建斌, 赵国伟. 柔性绳索在空气阻力作用下的动力学仿真研究[J]. 机械科学与技术, 2010, 29(10): 1334-1337.Hu Xiaonan, Zhang Jianbin, Zhao Guowei. Dynamics simulation of a flexible rope with air resistance[J]. Mechanical Science and Technology for Aerospace Engineering, 2010, 29(10): 1334-1337.(in Chinese)
[8] Hergenr?ther E, D?hne P. Real-time virtual cables based on kinematic simulation[C]//WSCG′2000: Conference proceeding: The 8th International Conference in Central Europe on Computers Graphics, Visualization and Interactive Digital Media '2000 in cooperation with EUROGRAPHICS and IFIP WG 5.10: University of West Bohemia, Plzen, Czech republic, February 7-10, 2000, p. 402-409.
[9] Müller M, Heidelberger B, Hennix M, et al. Position based dynamics[J]. Journal of Visual Communication and Image Representation, 2007,18(2): 109-118.
[10] Bender J, Müller M, Macklin M. Position-based simulation methods in computer graphics[C]//Eurographics (Tutorials). 2015.
[11] Kubiak B, Pietroni N, Ganovelli F, et al. A robust method for real-time thread simulation[C]//Proceedings of the 2007 ACM symposium on Virtual reality software and technology. ACM, 2007: 85-88.
[12] 神七问天[EB/OL]. CCTV, 2008. (2008-09-27)[2018-11]. Shenzhou 7 quests for the Heavens[EB/OL]. CCTV, 2008. (2008-09-27)[2018-11].(in Chinese) http://tv.cntv.cn/video/C16254/604d582a094b4f10c9d665a6a901dc43
[13] Virtual Method Studio, Inc. Obi physics for unity tutorials[EB/OL]. Madrid Spain: Virtual Method Studio Inc, 2017. (2017)[2018]. http://obi.virtualmethodsudio.com/tutorials/index.html.