Research On Motion Planning And Tool Matching Of Virtual Human ARM For Assembly Simulaition

Because of the complex internal structure of the aerospace product,including many parts,workers often have to operate with hand in a narrow space,especially when the size of the products is very small.As a result,the workers need to adjust the arm posture in the manual assembly to find a suitable assembly operation mode,which seriously affecting the efficiency and feasibility of the assembly.Therefore,this paper introduces the technology of virtual human motion planning and optimization in the assembly process planning stage of aerospace products to simulating actual assembly process,which would support the workers in their assembly operation.In view of the above problems and research objectives,studies were made on the following four points: virtual human arm motion planning,dynamics optimization,tool operation space matching and the system development.The research results are as follows:1)Proposes a virtual human arm motion planning part-connection algorithm.With the idea of high dimensional decomposition and segmented connection,the 7-DOF arm motion planning was divided into two steps,which were the collision-free virtual hand plan solved by bidirectional Rapidly-exploring Random Tree(Bi-RRT)and the entire virtual human arm motion planning solved by inverse kinematics(IK).2)Propose a dynamics optimization method of virtual human arm motion attitudes.Aiming at the low reality of kinematics simulation,the dynamic model of virtual human arm is established,and the dynamic optimization of virtual human motion is based on joint comfort level,which further optimizing the virtual human motion path.3)Propose a minimum operation space model of static and dynamic tool that reflecting the tool operation characteristics.Optimal tool is selected by model matching in the tool library based on the minimum operation model size range obtained by collision detection.4)Development a narrow space motion planning and simulation prototype system on the basis of the above research and verify the system with electronic module simulated assembly case.The results show that the system is effective.