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虚拟样机可视化虚拟环境框架研究 总被引:1,自引:0,他引:1
为提高虚拟样机可视化虚拟环境的开发效率,提出了一种快速构建3维虚拟环境的方法.通过分析虚拟样机可视化虚拟环境参数化模型,设计了一种虚拟样机可视化虚拟环境框架,利用该框架可以快速定制一个虚拟样机可视化虚拟环境.该框架支持基于高层体系结构的分布式交互仿真,仿真运行时,实时接收运行时间框架传递的仿真模型解算数据,驱动虚拟样机几何模型在3维场景中运动. 相似文献
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人能够在复杂感知的相互协调下做出决策并完成灵巧操作。将视听觉和力触觉等不同模态相融合,可以提高操作者对虚拟场景或远程环境的感知,进而改善操作效果。如何协调人的操作和虚拟环境中目标机器人系统的自主性,则是人机交互中的一个关键问题。为此,本文基于Unity3D引擎建立了虚拟场景,并实现了omega.7力反馈平台与虚拟场景之间的通信。进而,创建了基于碰撞检测的虚拟距离传感器,实现了虚拟场景中目标机器人对周围环境的探测。然后,设计实现了人机力触觉交互共享控制算法,将人的智能决策与灵巧操作优势同目标机器人的自主算法相融合,使得目标机器人系统的控制权限可以在人手操作和机器人自主算法之间连续平滑转移。由此,实现了人与虚拟环境和目标机器人之间功能多样、场景逼真的视听觉和灵巧力触觉多模态交互,从而为医学、康复、军事、娱乐等领域中的人机交互提供了一种解决方案。 相似文献
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为了提高电缆的装配效率,提出一种虚拟环境下电缆几何模型的建模与仿真方法,将电缆模型看作是由一组刚性杆件通过关节串联而成的机器人操作臂,根据末端与始端的相对位姿,利用逆运动学原理反求各杆件的最终形态。最后,利用过控制点的B样条曲线对电缆模型进行光滑处理,逼真地模拟电缆的实际形态。结果表明,该方法可以实现电缆的变形仿真,且计算时间量不大,满足虚拟环境的实时性要求。 相似文献
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为进一步研究弹性约束颗粒碰撞阻尼器的减振性能,提出了该阻尼系统的动力学模型,并模拟了该阻尼器对悬臂梁的减振效果。同时,对5种不同刚度的弹性约束颗粒碰撞阻尼器的减振效果进行了实验研究。结果表明:理论计算与实验的结果基本吻合,证明所建立的弹性约束下的颗粒碰撞阻尼系统的计算模型是可靠的;在弹性约束下的颗粒碰撞阻尼系统中,其刚度比对减振效果的影响是非线性的,且弹簧刚度对该碰撞系统的共振点存在影响。 相似文献
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《现代制造技术与装备》2020,(6)
交通事故一直是交通行业面临的难题,车辆碰撞事故严重危害着行车安全。针对车辆在行驶过程中易发生的碰撞事故,采用智能车路协同技术,建立了智能路侧系统和智能车载系统,并针对易发生碰撞的不同场景开发了一种基于车车协同场景下的避撞算法,使车辆在行驶过程中无论是路段还是交叉口都可以实现避撞预警。通过实车实验验证,该种场景预警可成功触发,达到成功避撞预警的目标,从而大大提高了行车过程的安全性。 相似文献
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针对X形和垂直交叉轨迹两种特殊的汽车行驶工况,分析自车和目标车的相互运动关系。进行了碰撞域的划分、碰撞时间的确定以及适用于该工况的安全距离模型搭建,并建立PreScan环境下的交叉轨迹工况AEB模型。通过碰撞时间来判断是否将有危险发生,若有危险,则通过分析自车紧急制动后的停车位置与碰撞域的位置关系来检测自车的避撞效果。最后,进行X形交叉轨迹工况下AEB实车实验,验证了该方法的有效性与可行性。 相似文献
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共建生 《机械工人(冷加工)》1997,(7):26-26
车间里的起重机一般都是单梁或双梁电动起重机。由于梁架自身的弹性和电动葫芦的运转惯性,人工操作时很难保证微小的移位,往往出现碰撞现象,致使精密的配合面碰伤或损坏。如图1所示,在日常生产中经常要发生工夹具在机床工作台上定位安装,是绝对不允许有碰撞的,而在其他机械起吊和安装过程中,也不希望有碰撞发生。为此,我们在吊索中间串接了一种小移位吊环,通过人工协调,实现无级小移位后,就不会发生碰撞现象。 相似文献
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LU Hong YI Guodong TAN Jianrong LIU Zhenyu 《机械工程学报(英文版)》2008,21(1):47-52
Collision avoidance decision-making models of multiple agents in virtual driving environment are studied. Based on the behavioral characteristics and hierarchical structure of the collision avoidance decision-making in real life driving, delphi approach and mathematical statistics method are introduced to construct pair-wise comparison judgment matrix of collision avoidance decision choices to each collision situation. Analytic hierarchy process (AHP) is adopted to establish the agents' collision avoidance decision-making model. To simulate drivers' characteristics, driver factors are added to categorize driving modes into impatient mode, normal mode, and the cautious mode. The results show that this model can simulate human's thinking process, and the agents in the virtual environment can deal with collision situations and make decisions to avoid collisions without intervention. The model can also reflect diversity and uncertainly of real life driving behaviors, and solves the multi-objective, multi-choice ranking priority problem in multi-vehicle collision scenarios. This collision avoidance model of multi-agents model is feasible and effective, and can provide richer and closer-to-life virtual scene for driving simulator, reflecting real-life traffic environment more truly, this model can also promote the practicality of driving simulator. 相似文献
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提出了一种基于多体动力学计算引擎的虚拟装配仿真框架,并对该仿真框架涉及的多面体近似凸集分解算法、并行碰撞检测、仿真场景构建、仿真模型定义与处理等关键技术进行了研究。基于该仿真框架,维修装配人员可以完全沉浸在虚拟装配环境中,采用数据手套、光学跟踪器和其他虚拟外设与装配零部件进行交互,从而体验真实的维修装配感觉,达到装配维修训练与试装配的目的。最后,在一个多人沉浸式虚拟现实硬件平台下开发虚拟维修装配仿真原型系统,以齿轮箱的拆装作为实例,验证了该仿真框架的有效性,为装配操作人员提供了一种优良的沉浸式用户操作界面。 相似文献
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Xi Zhang Xiaodong Tian Kazuo Yamazaki 《The International Journal of Advanced Manufacturing Technology》2010,48(1-4):251-265
In computer numerical control machine tools, using machining simulation to prevent collision becomes more and more popular due to its efficiency and low cost. However, if the entire digital model of the machining setup does not exist, the simulation is not applicable. As a result, the operator has to manually check the numerical control program, which is a time-consuming and error-prone process. In this paper, an on-machine vision system is presented to quickly construct the digital model based on the actual machining setup. The total construction for a complex setup can be done within a few minutes. Several key technologies have been developed. First, a 2D edge feature detection algorithm has been designed which will extract the edges of the object of interest by processing both the real and virtual images. Second, a stereo vision system is developed which will obtain the three-dimensional (3D) edge data of the object of interest. A new algorithm is presented to solve correspondence, which is the key problem of the stereovision system. Furthermore, the 3D object recognition algorithm is developed to let the system intelligently search for the matched solid model in the database and import it into the virtual environment with an accurate pose. Finally, experiments are carried out to test the developed system. 相似文献
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In this research, a remote control system has been developed and implemented, which combines autonomous obstacle avoidance
in real-time with force-reflective tele-operation. A teleoperated mobile robot is controlled by a local two-degrees-of-freedom
force-reflective joystick that a human operator holds while he is monitoring the screen. In the system, the force-reflective
joystick transforms the relation between a mobile robot and the environment to the operator as a virtual force which is generated
in the form of a new collision vector and reflected to the operator. This reflected force makes the tele-operation of a mobile
robot safe from collision in an uncertain and obstacle-cluttered remote environment. A mobile robot controlled by a local
operator usually takes pictures of remote environments and sends the images back to the operator over the Internet. Because
of limitations of communication bandwidth and the narrow viewangles of the camera, the operator cannot observe shadow regions
and curved spaces frequently. To overcome this problem, a new form of virtual force is generated along the collision vector
according to both distance and approaching velocity between an obstacle and the mobile robot, which is obtained from ultrasonic
sensors. This virtual force is transferred back to the two-degrees-of-freedom master joystick over the Internet to enable
a human operator to feel the geometrical relation between the mobile robot and the obstacle. It is demonstrated by experiments
that this haptic reflection improves the performance of a tele-operated mobile robot significantly. 相似文献
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基于多体动力学分析软件RecurDyn建立液压挖掘机虚拟样机模型,进行工作装置建模和运动仿真分析,并对液压挖掘机的作业范围进行动态仿真,得到挖掘机工作时的最佳作用状态。基于虚拟现实软件Virtools建立液压挖掘机三维虚拟实验平台,对液压挖掘机的不同工作状态进行虚拟模拟,提供液压挖掘机结构和原理的生动、逼真的沉浸式的学习环境。 相似文献
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