吊装过程动态可视化建模与仿真

Dynamic Visual Modeling and Simulation of Hoisting Process

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。

In view of the problems of heavy cargo hoisting dangerous,complex process,difficult to exercise in advance and lowefficiency of hoisting process planning,3D visual hoisting simulation scheme for hoisting process planning that can be applied to VRtechnology is proposed.First of all,the kinematics and dynamics model of crane and sling-wire rope-weight with various mechanismconstraints in virtual environment is established,and the fast solving method for position/velocity/force and collision interference isgiven.Then based on the above modeling and method,hoisting visible prototype system is developed in OpenSceneGraph platform,which includes3D scene modeling,hoisting motion demonstration and dynamic result display.And it is used for hoisting processplanning and result verification simulation.Finally,through the simulation example of crawler crane hoist I-beam of viaduct,themethod in the heavy cargo hoisting process planning is verified efficient and available.