雷达结构虚拟装配系统关键技术研究
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摘要
本文对雷达结构虚拟装配系统的关键技术进行深入研究,应用虚拟现实技术,实现了对雷达结构装配全过程具有真实感的模拟,优化了产品性能,提高了装配检验的效率,缩短了研制周期,降低了产品开发成本。
提出了雷达结构虚拟装配系统总体方案。研究了Pro/Engineer模型转换与简化技术,实现了Pro/Engineer模型与Vega Prime模型之间的转换;通过对机器人原理以及人手抓取特性进行研究,在运动学和动力学分析的基础上,采用旋量分析方法,建立了虚拟手摩擦接触模型,提出了力封闭判别条件,对虚拟手抓取过程中的抓取力、抓取稳定性进行了分析研究,实现了对虚拟手抓取过程的真实模拟;接入5DT数据手套、位置跟踪器等数据设备,实现了对虚拟手模型的控制;最终在Vega Prime平台的基础上,实现了雷达结构虚拟装配系统的开发。
The key technology of virtual assembly system for radar structure is researched. With the virtual reality technology, the virtual environment is built to simulate the whole process of assembly of radar structure. The period of the design is shortened, the efficiency of the assembly is raised, and the cost of the products is cut.
The blue print of virtual assembly system for radar structure is raised. The technology of the model transformation of model of Pro/Engineer software is researched. The model transformation between Pro/Engineer software and Vega Prime software is achieved. With the principle of robots and the characteristic of grabbing of hands to be researched , the model of friction of hands is made, the condition of judgement of force closure is raised, the grabbing forces and the stability of grabbing are researched, with the screw method, based on the kinematics and kinetics. The control of the model of hands is carried out , by connecting the 5DT data glove 5 and flock of bird tracking system. Finally, the virtual assembly system for radar structure is developed, based on the platform of Vega Prime software.
提出了雷达结构虚拟装配系统总体方案。研究了Pro/Engineer模型转换与简化技术,实现了Pro/Engineer模型与Vega Prime模型之间的转换;通过对机器人原理以及人手抓取特性进行研究,在运动学和动力学分析的基础上,采用旋量分析方法,建立了虚拟手摩擦接触模型,提出了力封闭判别条件,对虚拟手抓取过程中的抓取力、抓取稳定性进行了分析研究,实现了对虚拟手抓取过程的真实模拟;接入5DT数据手套、位置跟踪器等数据设备,实现了对虚拟手模型的控制;最终在Vega Prime平台的基础上,实现了雷达结构虚拟装配系统的开发。
The key technology of virtual assembly system for radar structure is researched. With the virtual reality technology, the virtual environment is built to simulate the whole process of assembly of radar structure. The period of the design is shortened, the efficiency of the assembly is raised, and the cost of the products is cut.
The blue print of virtual assembly system for radar structure is raised. The technology of the model transformation of model of Pro/Engineer software is researched. The model transformation between Pro/Engineer software and Vega Prime software is achieved. With the principle of robots and the characteristic of grabbing of hands to be researched , the model of friction of hands is made, the condition of judgement of force closure is raised, the grabbing forces and the stability of grabbing are researched, with the screw method, based on the kinematics and kinetics. The control of the model of hands is carried out , by connecting the 5DT data glove 5 and flock of bird tracking system. Finally, the virtual assembly system for radar structure is developed, based on the platform of Vega Prime software.
引文
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[19] J. Oliver and R. Kuehne. A Virtual Environment for Interactive Assembly Planning and Evaluation[J].Proceedings of ASME Design Automation Conference, 1995.
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[22]刘检华,姚珺,宁汝新.基于虚拟装配的碰撞检测算法研究与实现[J].系统仿真学报, 2004,16(8):1775-1778.
[23]付宜利,刘诚,虚拟装配中基于生理约束的虚拟手建模与抓持规划[J],计算机集成制造系统,2009,15(4):681-184.
[24]陈晓霞,雍俊海,陈玉健,特征向量变换求解装配约束的表示方法[J],计算机辅助设计与图形学学报,2005,17(10) :2293-2298.
[25]梅继红,雷小永,戴树岭,基于数据手套的虚拟操作技术研究[J],系统仿真学报,2002, 14(6):330～332.
[26]杨文珍,高曙明,万华根,朱振华,骆阳,基于物理的虚拟手交互碰撞力觉生成和反馈[J],计算机学报.2006,29(12):2096-2103.
[27]林瑞麟,用旋量方法规划机器人运动轨迹[J],机械设计,1997,9.
[28]林瑞麟等.旋量法在机器人动力学分析中的应用.应用数学和力学,1996,17(1):75～80.
[29]黄真,赵永生,赵铁石.高等空间机构学[M].北京:高等教育出版社2006.
[30] J.M.Selig著,杨向东译.机器人学的几何基础.北京:清华大学出版社2008.7.
[31]姚珺.虚拟装配理论与方法研究[博士学位论文].北京理工大学. 200203.
[32] Boyd S, Ghaoui L E I, Feron E, et al. Linear matrix inequalities in system and control theory [M]. Philadelphia: SIAM, 1994.
[33]丁国富,王金诺.基于接触有限元模型的虚拟手指力建模研究[J].计算机仿真.2000,7.
[34] Thomas Ullmann, Joerg Sauer. Intuitive Virtual Grasping for non HapticEnvionments[J].IEEE,2000.
[35]曾芬芳,梁柏林,刘镇,王建华.基于数据手套的人机交互环境设计[J].中国图形图像学报.2000,2.
[36] Ronan Boulic, Serge Rezzonico, Daniel Thalmann. Multi-Finger Manipulation of Virtual Objects[Z],1995.
[37] Bergama sco M, Degl’Innocenli P, Bucciarelli D, Rigucci G. Grasping and Moving Objects in Virtual Environments: a preliminary approach towards a realistic behaviour[A]. IEEE International Workshop on Robot and Human Communication,1994.
[38]杨磊,高晓辉,刘宏.多指灵巧手的位置/力矩控制[J].控制理论与应用. 2005,22(3):364-368.
[2] Sankar Jayaram, Yong Wang, Uma Jayaram. A Virtual Assembly Design Environment. IEEE Computer Graphics and Applications. 1999, 19(6).
[3] Ming C Lin, Stefau Gottschalk. Collision detection between geometric models: a survey[Z], 1998.
[4] Ji-Hoon Youn, Wohn K. Realtime Collision Detection for Virtual Reality Applications[J], IEEE, 1993.
[5] Sarah F Frisken-Gibson. Using Linked Volumes to Model Object Collisions, Deformation, Cutting, Carving and Joining[J].
[6]聂力.基于Division的大型天线结构虚拟装配研究[D].西安电子科技大学硕士学位论文.2007.
[7]邵晓东,聂力.基于Division Mockup装配仿真的实现方法[J].机械设计与制造.2007(3),54-56.
[8]杨文珍等.基于物理的虚拟手交互碰撞力觉生成和反馈[J].计算机学报. Vol.29,No.12,Dec.2006.
[9]罗显光,李爱平. VEGA环境下DI-GUY规避动作的实现及应用[J].机电一体化Mechatronics 2007年第2期。
[10]吴家铸.视景仿真技术及应用[M].西安:西安电子科技大学出版社2001.
[11]谢建华,马立元,张睿导弹虚拟操作训练系统中虚拟手的控制[J].兵工自动化2004年第23卷第5期。
[12]吴昌盛,汪代勇,代英明.装配仿真系统中装配运动引导方法研究[J].系统仿真学报.2005, Vol.17, No.4: 926～929.
[13]王天柱,李文辉,王祎,崔虎等.基于组件的虚拟手建模及碰撞检测[J].吉林大学学报(理学版).2006年第44卷第4期,599-605.
[14]刘江省,姚英学,李建广等.虚拟装配中基于数据手套的虚拟操作研究[J].系统仿真学报.2004,16(8),1743-1747.
[15]李可.装配力引导的虚拟装配方法研究[D].西安电子科技大学硕士学位论文.2006.
[16] Flock of Bird, Windows Driver User Manual[M]. 2004,12.
[17]梁海奇,王增强,莫蓉,杨海成.虚拟产品开发中的装配建模研究[J].机械科学与技术, 2001, 20(2):312-314.
[18] Weiyin Ma, Yongmin Zhong, Shiu-Kit Tso, Tianxiang Zhou. A hierarchically structured and constraint-based data model for intuitive and precise solid modeling in a virtual reality environment [J]. Computer-Aided Design. 2004, 36: 903–928.
[19] J. Oliver and R. Kuehne. A Virtual Environment for Interactive Assembly Planning and Evaluation[J].Proceedings of ASME Design Automation Conference, 1995.
[20] B. Jung, M. Latoschik, I. Wachsmuth. Knowledge-based assembly simulationfor virtual prototype modeling[J]. IEEE Industrial Electronics Society. 1998, 4:2152-215.
[21] F.M. Ng, J.M. Ritchie, J.E.L. Simmons, R.G. Dewar. Designing cable harness assemblies in virtual environments[J]. Journal of Materials Processing Technology. 2000, 107:37-43.
[22]刘检华,姚珺,宁汝新.基于虚拟装配的碰撞检测算法研究与实现[J].系统仿真学报, 2004,16(8):1775-1778.
[23]付宜利,刘诚,虚拟装配中基于生理约束的虚拟手建模与抓持规划[J],计算机集成制造系统,2009,15(4):681-184.
[24]陈晓霞,雍俊海,陈玉健,特征向量变换求解装配约束的表示方法[J],计算机辅助设计与图形学学报,2005,17(10) :2293-2298.
[25]梅继红,雷小永,戴树岭,基于数据手套的虚拟操作技术研究[J],系统仿真学报,2002, 14(6):330～332.
[26]杨文珍,高曙明,万华根,朱振华,骆阳,基于物理的虚拟手交互碰撞力觉生成和反馈[J],计算机学报.2006,29(12):2096-2103.
[27]林瑞麟,用旋量方法规划机器人运动轨迹[J],机械设计,1997,9.
[28]林瑞麟等.旋量法在机器人动力学分析中的应用.应用数学和力学,1996,17(1):75～80.
[29]黄真,赵永生,赵铁石.高等空间机构学[M].北京:高等教育出版社2006.
[30] J.M.Selig著,杨向东译.机器人学的几何基础.北京:清华大学出版社2008.7.
[31]姚珺.虚拟装配理论与方法研究[博士学位论文].北京理工大学. 200203.
[32] Boyd S, Ghaoui L E I, Feron E, et al. Linear matrix inequalities in system and control theory [M]. Philadelphia: SIAM, 1994.
[33]丁国富,王金诺.基于接触有限元模型的虚拟手指力建模研究[J].计算机仿真.2000,7.
[34] Thomas Ullmann, Joerg Sauer. Intuitive Virtual Grasping for non HapticEnvionments[J].IEEE,2000.
[35]曾芬芳,梁柏林,刘镇,王建华.基于数据手套的人机交互环境设计[J].中国图形图像学报.2000,2.
[36] Ronan Boulic, Serge Rezzonico, Daniel Thalmann. Multi-Finger Manipulation of Virtual Objects[Z],1995.
[37] Bergama sco M, Degl’Innocenli P, Bucciarelli D, Rigucci G. Grasping and Moving Objects in Virtual Environments: a preliminary approach towards a realistic behaviour[A]. IEEE International Workshop on Robot and Human Communication,1994.
[38]杨磊,高晓辉,刘宏.多指灵巧手的位置/力矩控制[J].控制理论与应用. 2005,22(3):364-368.