Design Of Collaborative Virtual Assembly System Based On Virtual Human Technology

Simulation training is an important research in military and aerospace industry. With the rapid development of the virtual reality technology, it has been more and more applied in the field of aerospace. It uses the virtual reality technology for simulation. With the help of virtual reality equipment, the manipulator can complete the assembly task according to the assembly process in the virtual system, which can obtain the similar experience of the real assembly. Therefore, it can reduce the risk of the test launch and the investment of funds.For the increasingly heavy aerospace task, it is necessary to establish a collaborative virtual assembly system under the situation that there is the lack of real equipment for the related training in usually work, which can improve the practical skills of personnel and the overall construction of the talented team. Based on the study of the technology of virtual human, we use the physics engine and the design of interaction to complete the design of collaborative virtual assembly system. The main contents are as① The overall design scheme and function of the collaborative virtual assembly system are proposed. From the overall logic framework of the system, special function modules of the system are specially described. To analyze the requirement in terms of virtual human and virtual environment, we put forward the problem of designing the technology and the need to solve the design subsystem.② To study the virtual human technology involved in the system, we optimize the hardware design of Vicon system by analyzing and comparing the human motion capture system, which reduces the number of losing points in the process of data collection and improve the stability and reliability of the data collection system. We utilize the examples of data collection to construct the virtual model and the virtual human posture set with H-Anim criterion. We analyze the existing virtual drive technology and propose motion interpolation algorithm based on classification statistical geometric model, which improves the fidelity of the virtual human motion of the synthesis system. We also design the solving method of inverse kinematics based on examples and consider the physiological limit as constraint condition to scheme the inverse kinematics algorithm, which improves the real-time control effect on the motion of virtual human. We design a method to determine the second derivative of the motion data for time, which effectively reduces the system "misjudgment" abnormal points. The simulation experiments show that this method can effectively reduce the distortion phenomenon of the model in the process of virtual human motion.③ We construct the 3D model of the virtual environment and the assembly equipment. We adopt multi-level of detail and collision detection technology to improve the design of virtual scene display and construct the 3D virtual scene with fluency, vivid and outstanding stereo feeling to achieve a vivid display of 3D scene for personnel activities. With the design of the physics engine and the interaction region, we realize the interaction between virtual human and virtual environment or equipment and test the integration virtual assembly system. The testing in the real application show the effectiveness and feasibility of the system.In the teaching training based on a rocked, the system achieves a good application effect, which not only gives manipulator an assembly experience but also reach the goal for the teaching of others. It plays an important role in improving the ability of testing and launch for aerospace.