基于完整可达域分析的虚拟人作业姿态生成方法

doi:10.16183/j.cnki.jsjtu.2021.304

摘要/Abstract

摘要：

由于人体结构的自由度较大,同时受作业环境的影响,仿真时虚拟人作业位姿的生成是一个非常复杂的过程,需要耗费较多的时间和精力.针对这一问题,本文以装配操作为对象,根据人体结构特点与运动特性,构建了虚拟人装配动作模板.然后,通过理论分析与计算,推导了不同动作模板操作可达域的计算公式,建立了虚拟人的完整可达域.在此基础上,通过可达域分析先筛选出可行的装配动作,再结合虚拟人作业姿态的多目标优化模型的求解,实现了虚拟人作业位姿的自动生成.最后,基于以上研究,结合实例对本方法进行了应用验证.

关键词: 虚拟人, 可达域, 作业姿态, 装配仿真

Abstract:

Due to the large degree of freedom of the human body and the working environment, the generation of virtual human working posture during simulation is very complicated, which requires a lot of time and energy. To solve this problem, according to the structure and motion characteristics of human body, the templates of assembly actions for virtual human are constructed. Through theoretical analysis and calculations, the formulas of the reachable region of different action templates are deduced, and the complete reachable region of the virtual human is established, based on which, feasible assembly actions are screened out through reachability analysis. In combination with the existing multi-objective solution model of virtual human working posture, the automatic generation of virtual human working posture is realized. Based on the above research, this method is verified by examples.

Key words: virtual human, reachable region, working posture, assembly simulation

中图分类号:

TP391.9

朱文敏, 骆晓萌, 范秀敏, 张磊, 蔡俊祺. 基于完整可达域分析的虚拟人作业姿态生成方法[J]. 上海交通大学学报, 2022, 56(10): 1409-1419.

ZHU Wenmin, LUO Xiaomeng, FAN Xiumin, ZHANG Lei, CAI Junqi. Working Posture Generation Method for Virtual Human Based on Complete Reachable Region Analysis[J]. Journal of Shanghai Jiao Tong University, 2022, 56(10): 1409-1419.

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动作名称	代号	含义
直立	Stand	挺胸直立,双腿直立完成与身高相近区域的操作
弯腰	Flexion	腰部弯曲,双腿直立完成位置较低区域的操作
侧弯	LateralFlexion	腰部向左或右弯曲,双腿直立完成位置较低区域的操作
转腰	Rotation	腰部向左或右转动,双腿直立完成与身高相近区域的操作
下蹲	Squat	双膝弯曲完成位置较低区域的操作
双膝跪	KneelBoth	双膝跪于支撑面上完成位置较低区域的操作
单膝跪	KneelOne	左膝或右膝跪于支撑面上完成位置较低区域的操作
俯卧	LieProne	腹部着地,面部朝下完成位置很低区域的操作
仰卧	LieSupine	背部着地,面部朝上完成位置很低区域的操作
侧卧	LieSide	身体呈卧姿且腹部朝左或右,完成位置很低区域的操作

动作类型	模板代号	虚拟人动作
直立	Stand-1
弯腰	Flexion-2 Flexion-5 Flexion-9
侧弯	LateralFlexion-3 LateralFlexion-5 LateralFlexion-10
单膝跪	KneelOne-1 KneelOne-3 KneelOne-8
俯卧	LieSupine-1 LieSupine-3

类型	S_i	α, β, γ, δ, λ₁, λ₂, λ₃, λ₄, λ₅范围
直立	S₁	α=0°, β=0°, γ=0°, δ=0, λ₁=-1, λ₂=-1, λ₃=-1, λ₄=-1, λ₅=-1
弯腰	S₂	0°<α≤45°, β=0°, γ=0°, δ=0, λ₁=-1, λ₂=-1, λ₃=-1, λ₄=-1, λ₅=-1
侧弯	S₃	α=0°, -20°≤β≤20°, γ=0°, δ=0, λ₁=-1, λ₂=-1, λ₃=-1, λ₄=-1, λ₅=-1
转腰	S₄	α=0°, β=0°, -45°≤γ≤45°, δ=0, λ₁=-1, λ₂=-1, λ₃=-1, λ₄=-1, λ₅=-1
下蹲	S₅	0°≤α≤45°, β=0°, γ=0°, 0<δ≤1, λ₁=-1, λ₂=-1, λ₃=-1, λ₄=-1, λ₅=-1
双膝跪	S₆	0°≤α≤45°, β=0°, γ=0°, δ=-1, 0≤λ₁≤1, λ₂=-1, λ₃=-1, λ₄=-1, λ₅=-1
单膝跪	S₇	0°≤α≤45°, β=0°, γ=0°, δ=-1, λ₁=-1, 0≤λ₂≤1, λ₃=-1, λ₄=-1, λ₅=-1
俯卧	S₈	0°≤α≤45°, β=0°, γ=0°, δ=-1, λ₁=-1, λ₂=-1, 0≤λ₃≤1, λ₄=-1, λ₅=-1
仰卧	S₉	0°≤α≤45°, β=0°, γ=0°, δ=-1, λ₁=-1, λ₂=-1, λ₃=-1, 0≤λ₄≤1, λ₅=-1
侧卧	S₁₀	0°≤α≤45°, β=0°, γ=0°, δ=-1, λ₁=-1, λ₂=-1, λ₃=-1, λ₄=-1, 0≤λ₅≤1

序号	x/mm	y/mm	r/rad	f₂(P_n, A_n)	f₃(P_n, A_n)	0.75f₂+0.25f₃
1	-14.224	206.325	0.197	0.019	0.702	0.190
2	-58.729	250.205	0.199	0.038	0.604	0.180
3	-131.581	292.951	0.200	0.068	0.486	0.173
4	-87.671	263.219	0.200	0.046	0.561	0.175
5	-131.581	292.951	0.200	0.068	0.486	0.173
6	-87.883	259.592	0.200	0.044	0.566	0.175
7	-12.708	188.186	0.199	0.013	0.728	0.192
8	-198.705	299.181	0.157	0.093	0.424	0.176
9	-87.671	253.546	0.200	0.040	0.574	0.174
10	-188.055	296.017	0.200	0.080	0.429	0.167
11	-98.563	265.333	0.200	0.048	0.549	0.173
12	-173.331	297.042	0.200	0.078	0.448	0.171
13	-199.160	297.167	0.200	0.084	0.431	0.171
14	-9.535	219.028	0.199	0.024	0.689	0.190
15	-199.083	299.181	0.161	0.093	0.424	0.176
16	-154.245	296.242	0.200	0.074	0.463	0.171
17	-98.563	293.640	0.200	0.066	0.514	0.178
18	-199.981	299.979	0.198	0.086	0.426	0.171