上海交通大学学报

上海交通大学学报 >

2022 , Vol. 56 >Issue 10: 1409 - 1419

DOI: https://doi.org/10.16183/j.cnki.jsjtu.2021.304

机械与动力工程

基于完整可达域分析的虚拟人作业姿态生成方法

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  • 1.上海交通大学 机械与动力工程学院, 上海 200240
    2.上海船舶工艺研究所,上海 200032
    3.上海市网络化制造与企业信息化重点实验室,上海 200230
朱文敏(1992-),男,湖北省洪湖市人,博士生,从事虚拟维修/装配、人机工程研究.

收稿日期: 2021-08-12

  网络出版日期: 2022-03-05

基金资助

国家自然科学基金(51475291);国家自然科学基金(51975362)

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Working Posture Generation Method for Virtual Human Based on Complete Reachable Region Analysis

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  • 1. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
    2. Shanghai Shipbuilding Technology Research Institute, Shanghai 200032, China
    3. Shanghai Key Laboratory of Networked Manufacturing and Enterprise Information, Shanghai 200230, China

Received date: 2021-08-12

  Online published: 2022-03-05

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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

本文引用格式

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 . DOI: 10.16183/j.cnki.jsjtu.2021.304

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

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