面向虚拟装配操作的交与辅助技术

针对虚拟装配系统中装配操作精度和效率低的问题，本文提出了基于约束元素包围盒的装配意图捕捉方法，根据约束元素的特征参数和配合类型，将位姿变换分解为点到线上、点到面上和直线平行三种位姿变换情况，提出基于位姿变换元素分解的约束精确定位求解算法，并通过对零件自由度的求解和目标约束方向上的运动分量映射，实现了零件的装配运动引导。最后通过一个典型装配结构的实例给出了装配操作的交互辅助流程，验证了算法的有效性。该算法已应用到面向航天产品的桌面虚拟装配系统中。

Interactive Aid Technology for Virtual Assembly Manipulation

Aiming at the problem of low precision and low efficiency of assembly manipulation in virtual assembly system, method of assembly intention capturing based on constraint element bounding box was presented. According to the feature parameters and fit types of constraint elements, pose transform was classifed into three cases as follows: placing a point onto a line, placing a point onto a plane and parallelling a line to a line. And the precise positioning solving algorithm of constraint based on pose transform of elements decomposition was proposed. Parts assembly motion navigation was realized by solving parts degree of freedom and mapping the motion component to the target constraint direction. An application case was studied to demonstrate the effectiveness of the algorithm. The algorithm has been applied in the desktop virtual assembly system for aerospace product.