华中科技大学
硕士学位论文
虚拟维修拆卸过程规划与仿真
姓名：李小俊
申请学位级别：硕士
专业：机械设计及理论
指导教师：王峻峰;李世其
2011-01-15
摘要
采用虚拟现实技术可以提升维修训练的水平，解决传统维修培训手段落后的情况。

论文通过对虚拟维修拆卸过程规划与仿真系统的关键技术的研究，构建了虚拟维修拆卸过程规划与仿真的原型系统，为虚拟维修训练和仿真提供辅助平台。

针对虚拟维修场景的构建问题，给出了虚拟维修场景开发的两种策略，针对CAD 系统与VR现实系统的不完全兼容问题，研究了模型的转换技术和模型优化技术。

在分析国内外学者对拆卸序列规划的研究上，研究了基于零件约束关系的Petri网拆卸序列规划，对模型特性进行了分析和验证，用获得的拆卸序列建立拆卸序列数据链表，存储零件的信息。

在拆卸序列规划的基础上，研究了在EON环境下的拆卸路径规划问题，为了保证拆卸过程的有效性，实时进行碰撞检测，记录拆卸路径关键点，将路径关键点的信息赋给拆卸序列数据链表，为拆卸过程的仿真提供支持，研究了虚拟维修系统的场景和对象的交互控制问题，设计了TPO视点变化函数，根据维修对象的拆卸行为建立视点变化模型，设计了拆卸对象六自由度运动交互控制方法。

最后，对上述各种技术研究之后，利用虚拟现实开发平台EON Studio5.0和VC++6.0高级编程语言及Script脚本在Windows XP系统上对原型系统进行了初步开发，这个原型系统可以完成虚拟维修拆卸的典型技术环节，像模型的加载，拆卸路径规划，拆卸过程仿真等。

关键词：虚拟维修；场景构建；拆卸规划；过程仿真；
Abstract
Virtual reality technology can increase the level of maintenance training to solve the current laggard situation. In the thesis the key technologies are studies for virtual maintenance disassembly process planning and simulation system. A prototype system is built for to provide supporting platform for virtual maintenance training and simulation.
For the problem of the scene construction for the virtual maintenance, two strategies are gived in the thesis for virtual maintenance scene development .To the not fully compatible of the CAD system and the VR system, model transformation and model optimization are studied in the thesis.
Petri net disassembly sequence planning is studied based on constraints between components. A data list of disassembly sequence is established with the model characteristics. Disassembly path planning is based on EON. In order to ensure the feasibility of disassembly process, real-time collision detection and key points record of the path are performed in the disassembly process. The information of the path key points is assigned to disassembly sequence data list and used to support disassembly process simulation. The interaction control of scenarios and virtual maintenance object in a virtual maintenance system are also studied, such as designing the function about the view changes of TPO and designing the interact control of the object by six degrees of freedom.
A preliminary prototype is developed by using the virtual reality development platform EON Studio 5.0, VC and Script programming language under the Windows XP system. This System can implement some representative function of Virtual maintenance disassembly such as model loading, disassembly path planning, and disassembly process simulation and so on.
Keywords：Virtual maintenance; scene construction; disassembly plan; process simulation;。