【作者】 徐洁；

【导师】 谭建荣；

【作者基本信息】 浙江大学 ， 机械设计及理论， 2004， 硕士

【摘要】 虚拟样机技术是虚拟现实在机械领域的一个重要的应用。它是一种新的产品开发方法，提供全数字化的产品开发方式，是一种基于产品的计算机仿真模型的数字化设计方法，这些数字化模型即虚拟样机(virtual prototype，VP)，可以用来代替物理样机对产品进行创新设计、测试和评估。虚拟样机技术可以独立于虚拟现实(VR)环境，也可以与虚拟环境相结合，本文中所指的虚拟样机是基于VR的虚拟样机。 本文阐述了虚拟环境下进行虚拟样机运动学求解所涉及的若干关键技术，提出了基于运动副的运动链识别方法，解决了非树型系统树型化的问题，实现了水压机系统的运动学分析。本文的研究成果得到了实际的应用。 第一章，介绍了虚拟样机技术的研究现状，阐述了研究中存在的若干关键技术，论述了本文的研究内容和总体框架。 第二章，分析了非树型多刚体系统树型化的必要性，介绍了多刚体系统拓扑构型的数学描述，定义了铰切割原则，给出了基于铰切割非树构型树型化的基本方法。 第三章，将传统的运动链与本研究中运动链做了对比，然后介绍了基于运动副的运动链识别方法。 第四章，介绍了常见的几类基本杆组运动求解方法，给出了本文所采用的杆组拆分法。介绍了轮系运动求解的方法。并介绍了如何利用前章阐述的运动链的识别方法将杆组和轮系的运动综合起来。 第五章，解决了水压机运动学分析中遇到的问题，给出了系统应用实例。介绍了水压机模型的运动链识别、运动求解以及运动学分析结果的可视化，并展示了整个系统的功能。 最后，对本文的研究工作进行总结和展望。更多还原

【Abstract】 Virtual Prototype is a very important application of virtual reality technology in mechanical engineering field. It is a develop method of new product and offers a digital design method for computer simulation model. These digital models, virtual prototype, can make innovation design, test and evaluation to new product instead of physical prototype. Virtual Prototype technology can be independent of VR environment and also can combine with it. The virtual prototype constructs in this paper refers the latter.This paper introduces some key technology during the kinematics analysis of virtual prototype in VR environment, presents the recognition of motion link based on motion constrains, resolves the transformation from non-tree system to tree system, and realizes the kinematics analysis of the hydraulic press. The research results have been applied to practice.Chapter I The research status of virtual prototype technology is firstly introduced, then some key technologies during the research are elucidated, finally the research contents are expanded, with which followed a brief introduction to the dissertation’s architecture.Chapter II Analyses the necessity of the transformation from non-tree system to tree system, introduces the mathematical description of the topological configuration of multibody system, defines the rules of joint cutting, and introduces the method of the transformation based on cutting joint.Chapter III The contrast of the motion link recognition based on motion constraint with the traditional method is made firstly, then expatiation of this method is made.Chapter IV Introduces the kinematics solution of the basic linkage, discusses the division method of the linkage group, introduces the kinematics solution of the gear system and combines these two methods to the synthesis of the mechanism motion.Chapter V resolves the problem met during the kinematics analysis of the hydraulic press, and gives the application example. In this example, the motion linkrecognition method is used and the result of the kinematics analysis is visualized. Finally, the function of the whole system is introduced.The remainder of this dissertation summarizes the research work and gives the future work of this research.更多还原