论文部分内容阅读
针对重大件吊装危险性大、过程复杂、难以事先演练且制定吊装工艺规划效率低的问题,提出面向吊装工艺规划的可应用于VR技术的3D可视化吊装仿真方案。建立了虚拟环境中的包含各种机构约束的起重机及吊具-钢绳-吊重的运动学及动力学模型,并给出位置/速度/受力和碰撞干涉的快速求解方法,基于上述建模和方法,在OpenSceneGraph平台上开发了包括三维场景建模、吊装运动演示以及动力学结果显示的吊装可视化原型系统,用于吊装工艺规划及结果验证仿真。通过履带式起重机起吊高架桥Ⅰ型梁的仿真实例,验证了该方法的高效可用性。
Aiming at the problem of heavy lifting, the process is complicated, it is difficult to pre-drill and the efficiency of hoisting process planning is low, a 3D visual hoisting simulation scheme applicable to VR technology is proposed for hoisting process planning. The kinematic and dynamic models of cranes and spreaders-slings-hangers with various constraints are established in the virtual environment. The kinematic and kinematic models of crane-sling-hanger are established and the fast method of solving the position / velocity / force and collision is given. Mode and method, a prototype system of hoisting visualization including three-dimensional scene modeling, lifting motion demonstration and dynamic result display is developed on the OpenSceneGraph platform for hoisting process planning and result verification simulation. The simulation example of lifting type viaduct Ⅰ beam with crawler crane shows the high availability of the method.