虚拟装配中基于数据手套的虚拟操作研究

在虚拟装配中,采用数据手套对虚拟物体进行虚拟操作,是进行虚拟装配的重要手段。首先给出了数据手套的虚拟操作流程,探讨了虚拟操作中存在的三个关键技术问题碰撞检测问题、手的穿透限制问题、手的抓取和拖放问题。然后对这三种关键技术逐项进行了剖析,并在此基础上给出了具体的解决算法面向对象的基于包围盒的碰撞检测算法、基于面片的穿透限制算法和抓取与拖放算法。最后构建了虚拟装配试验系统对这几种解决方案进行了验证。这几种算法能够保证虚拟装配系统的实时性和真实性,较好地解决了虚拟操作中存在的问题。

Virtual Manipulation Based on Data Glove in Virtual Assembly

In virtual assembly (VA) system, it is an important method to use data glove to manipulate virtual objects. Real-time and reality are two basic requirements for virtual manipulation. First of all, the flowchart of data gloves virtual manipulation was given. Three key techniques of virtual manipulations were discussed, which were collision detection, penetration avoidance of virtual hand and grasping, pulling or releasing virtual objects with virtual hand. The object-oriented collision detection algorithm based on bounding-box was put forward to solve the first technique. The penetration avoidance algorithm based on tessellations was proposed to solve the second one. As to the third technique, the algorithm for grasping, pulling and releasing objects was given. At last, a VA experimental system was established to verify these key techniques. These algorithms guarantee that the VA system is real time and realistic, and they are proven to be efficient and applicable.