摘要：

常用Jack分析软件在失重状态下无法实现对动作的复杂动力学分析和计算。针对该问题,提出一种虚拟人运动分析软件设计方法。依据人体的基本结构和动态特征,结合刚体运动学和机器人学技术,将虚拟人划分成15个体段,使各体段简化为匀质刚体,并建立多刚体动力学模型,应用机器人Denavit-Hartenberg分析方法进行虚拟人的建模和分析,在此基础上,采用标准C语言形式编写虚拟人的运动学和动力学分析算法,利用OpenGL工具开发可视化仿真界面建立虚拟人的三维仿真场景。通过虚拟人飘浮出舱动作的运动仿真验证了平台的可行性和较好的人机交互性。

关键词: 虚拟人, 舱外活动, VC平台, 可视化, 失重状态

Abstract:

Jack software can not realize the dynamic solution for Virtual Human(VH) motion at the state of weightlessness.Based on relative robotics and rigid body kinematics,a new concept of VH motion analysis software is presented in this paper to solve the above problems.According to the basic structure of human body and its dynamic characteristic,the VH is divided into a model of 15 rigid segments with even density and rigid kinematics model can be established,the algorithms for VH kinematics and dynamics analysis are implemented by standard C programs based on Denavit-Hartenberg method of robotic kinematic,and the visualization simulation interface is developed by OpenGL.Its feasibility is verified by the cabin floating action simulation for virtual human,and the software platform has good human-computer interaction.

Key words: Virtual Human(VH), Extra-vehicular Activity(EVA), VC platform, visualization, gravity free condition

中图分类号: 

• TP391.9