【作者】 于淼；

【导师】 邵晓东；

【作者基本信息】 西安电子科技大学 ， 机械电子工程， 2010， 硕士

【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。更多还原

【Abstract】 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.更多还原