力封闭虚拟手抓持规则研究

Research on Virtual Hand Grasping Rules Based on Force Closure

针对航天员虚拟训练虚拟手抓持操作中传统的碰撞检测和几何约束抓持规则判定标准简单、仿真效果不理想的问题,在力封闭判别和稳定静力抓持模型的基础上,提出了力封闭虚拟手抓持规则,实现了通过力与力矩计算判别是否抓持成功。并设计了两组抓持试验,从抓持接触点、被抓持物体材质等角度对抓持规则判定进行验证,结果证明该抓持规则可根据抓持手姿、被抓持物体材质,通过受力模型对抓持是否成功进行判别。通过力封闭计算制定抓持规则的方法,使抓持更符合实际抓持,为基于物理的虚拟手抓持研究提供了一种方法,可以应用到航天员虚拟训练虚拟手抓持中。

In the virtual hand grasping operation during astronaut virtual training, the traditional col-lision detection and geometric constraint grasping rules are simple and the simulation results are notsatisfactory. Based on the force closure discrimination and stable static grip model, the force-closedgrasping rules were proposed in this paper. The force and torque calculation were used to determinewhether the grasping was successful. The experiments proved that the grasping rule could discrimi-nate whether the grip was successful by hand posture and the material of the grasped object. Thegrasping rules established based on the force closure could make grasping more in line with the actu-al grasping. This study provides a method for physics-based virtual hand grasping research, whichcan be applied to the astronaut virtual training.