虚拟装配环境中的人手抓取行为与操作研究

发布时间：2019-06-22 11:45

【摘要】：随着VR技术的推广,虚拟装配逐渐被应用于发现产品装配过程中未知的错误,由人手、虚拟手以及虚拟装配零部件之间交互完成,过程中虚拟抓取的实现与否将直接影响到虚拟手是否能够在虚拟环境中准确完成装配目标。由于人手的复杂性较高,因此如何更好地在虚拟环境中还原手部逼真的装配行为需要考虑多种因素。论文主要围绕虚拟装配环境中人手的抓取与操作行为展开研究。首先,根据对人手结构的分析构建人手模型,此模型通过理论数据与实际观察得出结构尺寸,符合人手的形状特点,并能够实现人手的运动性能。通过SOLIDWORKS对指节、关节、手掌建模装配,实现人手的主要动作仿真。其次,分析不同的抓取手势下手指的运动特性,建立指尖运动轨迹,并通过正逆向运动学分析验证其正确性,提出基于抓取手势的抓取规则,提高抓取效率的同时保证稳定抓取。最后,分析双手影响因素,对不同的双手操作模式,根据左右手的运动状态分类,分析作业流程以及左手、右手、零部件和装配体之间的交互关系。论文最后在MATLAB环境下验证引入目标物体变量的运动轨迹的有效性,并通过SOLIDWORKS对单手运动轨迹下的抓取行为进行仿真,实现单手抓取。建立实例实现不同模式下的双手装配过程,结果证实本文建立运动轨迹的方法有效,双手模式分析可行,能够完成装配目标。
[Abstract]:With the popularization of VR technology, virtual assembly is gradually applied to discover unknown errors in the process of product assembly, which is completed by the interaction between human hands, virtual hands and virtual assembly components. Whether the virtual grasping is realized or not will directly affect whether the virtual hand can accurately complete the assembly goal in the virtual environment. Because of the high complexity of manpower, many factors need to be considered in how to better restore the realistic assembly behavior of hand in virtual environment. This paper mainly focuses on the grasp and operation behavior of human beings in virtual assembly environment. First of all, according to the analysis of manpower structure, the manual model is constructed, which obtains the structure size through theoretical data and practical observation, which accords with the shape characteristics of human hand, and can realize the motion performance of human hand. Through SOLIDWORKS modeling and assembly of knuckles, joints and palms, the main actions of human hands are simulated. Secondly, the motion characteristics of fingers under different grasping gestures are analyzed, the fingertip motion trajectory is established, and its correctness is verified by forward and inverse kinematic analysis. The grasping rules based on grasping gestures are put forward to improve the grasping efficiency while ensuring stable grasping. Finally, the influencing factors of the two hands are analyzed, and the movement state of the left and right hands is classified according to the motion state of the left and right hands, and the interaction between the left hand, the right hand, the parts and the assembly is analyzed. Finally, the effectiveness of the trajectory of the target object is verified in MATLAB environment, and the grasping behavior of the single hand trajectory is simulated by SOLIDWORKS, and the single hand grasping is realized. An example is established to realize the assembly process of two hands under different modes. The results show that the method of establishing motion trajectory in this paper is effective, the analysis of two hands mode is feasible, and the assembly goal can be completed.
【学位授予单位】：杭州电子科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP391.9;F273

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