柔带网格试衣机器人结构设计与仿形计算
发布时间：2018-10-04 18:32
【摘要】：试衣机器人是模仿人体体形的一种机电装置,替代真人试衣,获得服装在不同体形人体上的着装效果,被认为是解决服装电子商务中试衣难题的有效方法。现有的试衣机器人主要采用分块曲面结构,用特定形状大小的弹性面板来模拟人体上相应的分块区域。在模拟人体体形过程中,由于弹性面板只能沿特定方向移动,因此会导致仿形灵活性不足;而相邻弹性面板间容易错位导致仿形精确性不足。本文提出了一种新的试衣机器人模型,采用柔带网格的结构,试衣机器人外表面设置有纵向柔带和横向柔带交织构成的柔带网格,通过内部弹性曲杆的移动控制横向柔带形状模拟不同人体体形。研究内容主要分为以下几个部分:(1)试衣机器人的几何结构设计。通过特征曲线网格模型来表示试衣机器人的外形。根据参数化人体表示方法,设计了能用柔带模拟横向和纵向特征线的试衣机器人的曲线网格模型。其特征曲线既能充分表示人体形状特征,也能便于被机械机构控制柔带模拟。(2)根据试衣机器人几何结构的设计,设计了柔带网格试衣机器人的机械结构。总体结构上根据人体内部空间约束将试衣机器人分为肩部、胸部、腰部和臀部四个特征层,并设计了纵向柔带的分布。然后分别设计了肩部、胸部、腰部和臀部特征层中控制横向柔带的弹性件形状和数量以及控制弹性件位置变化的驱动机构。(3)试衣机器人的仿形计算。主要包括反向仿形求解和正向仿形求解。反向仿形求解是通过目标人体形状来求解弹性曲杆的位置和形状变化,并通过位置和形状变化分别求解出对应的控制弹性曲杆移动和柔带长度的电机的控制参数。正向仿形求解是通过控制参数求解出相应推杆铰接端弹性曲杆的位置和柔带长度,求解机器人的柔带网格形状。基于上述研究,本文开发了柔带网格试衣机器人原型系统,可以根据人体模型控制机器人的形变。
[Abstract]:The fitting robot is a kind of electromechanical device which imitates the human body shape, replaces the real person fitting, obtains the clothing effect on the different body shape human body, is considered to be the effective method to solve the clothing electronic commerce fitting difficult problem. The existing fitting robot mainly uses the block curved surface structure, using the specific shape and size of the elastic panel to simulate the corresponding regions on the human body. In the process of simulating human body shape, the elastic panel can only move along a specific direction, so it will lead to insufficient copying flexibility, while the misalignment between adjacent elastic panels will lead to insufficient copying accuracy. In this paper, a new model of fitting robot is proposed. The structure of flexible belt mesh is adopted, and the outer surface of the robot is equipped with a flexible belt mesh composed of longitudinal and transverse flexible bands. Different human body shapes are simulated by moving and controlling the lateral flexible band shape of the internal elastic curved rod. The main research contents are as follows: (1) geometric structure design of fitting robot. The shape of the fitting robot is represented by the characteristic curve grid model. According to the parameterized representation of human body, a curved mesh model of a fitted robot which can simulate the transverse and longitudinal characteristic lines with flexible belt is designed. The characteristic curve can not only fully represent the shape of human body, but also can be easily controlled by mechanical mechanism. (2) according to the geometric structure design of the fitting robot, the mechanical structure of the flexible belt mesh fitting robot is designed. In the overall structure, the robot is divided into four characteristic layers: shoulder, chest, waist and buttocks according to the internal space constraints of human body, and the distribution of longitudinal flexible belt is designed. Then the shape and quantity of elastic parts and the driving mechanism to control the change of elastic parts' position in the characteristic layers of shoulder chest waist and hip are designed respectively. (3) the copying calculation of fitting robot. It mainly includes reverse copying solution and forward copying solution. Reverse copying solution is to solve the position and shape change of the elastic curved rod by the shape of the target human body, and the corresponding control parameters of the motor which control the movement of the elastic curved rod and the length of the flexible belt are obtained by the change of position and shape respectively. The forward copying solution is to solve the position and the flexible band length of the elastic curved bar at the hinge end of the corresponding push rod by controlling the parameters, and to solve the flexible belt mesh shape of the robot. Based on the above research, a prototype system of flexible strip mesh fitting robot is developed, which can control the deformation of robot according to the human model.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
本文编号：2251433
[Abstract]:The fitting robot is a kind of electromechanical device which imitates the human body shape, replaces the real person fitting, obtains the clothing effect on the different body shape human body, is considered to be the effective method to solve the clothing electronic commerce fitting difficult problem. The existing fitting robot mainly uses the block curved surface structure, using the specific shape and size of the elastic panel to simulate the corresponding regions on the human body. In the process of simulating human body shape, the elastic panel can only move along a specific direction, so it will lead to insufficient copying flexibility, while the misalignment between adjacent elastic panels will lead to insufficient copying accuracy. In this paper, a new model of fitting robot is proposed. The structure of flexible belt mesh is adopted, and the outer surface of the robot is equipped with a flexible belt mesh composed of longitudinal and transverse flexible bands. Different human body shapes are simulated by moving and controlling the lateral flexible band shape of the internal elastic curved rod. The main research contents are as follows: (1) geometric structure design of fitting robot. The shape of the fitting robot is represented by the characteristic curve grid model. According to the parameterized representation of human body, a curved mesh model of a fitted robot which can simulate the transverse and longitudinal characteristic lines with flexible belt is designed. The characteristic curve can not only fully represent the shape of human body, but also can be easily controlled by mechanical mechanism. (2) according to the geometric structure design of the fitting robot, the mechanical structure of the flexible belt mesh fitting robot is designed. In the overall structure, the robot is divided into four characteristic layers: shoulder, chest, waist and buttocks according to the internal space constraints of human body, and the distribution of longitudinal flexible belt is designed. Then the shape and quantity of elastic parts and the driving mechanism to control the change of elastic parts' position in the characteristic layers of shoulder chest waist and hip are designed respectively. (3) the copying calculation of fitting robot. It mainly includes reverse copying solution and forward copying solution. Reverse copying solution is to solve the position and shape change of the elastic curved rod by the shape of the target human body, and the corresponding control parameters of the motor which control the movement of the elastic curved rod and the length of the flexible belt are obtained by the change of position and shape respectively. The forward copying solution is to solve the position and the flexible band length of the elastic curved bar at the hinge end of the corresponding push rod by controlling the parameters, and to solve the flexible belt mesh shape of the robot. Based on the above research, a prototype system of flexible strip mesh fitting robot is developed, which can control the deformation of robot according to the human model.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
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