重型筑路机械虚拟设计可调节平台运动与机构分析

Motion and Mechanism Analysis of Reconfigurable Virtual Driving Platform for Ground Vehicle in CAVE

重型筑路机械的虚拟设计与制造技术可以减少设计过程中的错误、缩短开发周期。本文介绍了一种满足ISO6 6 82规范的工程机械可调节驾驶模拟平台的设计 ,将该模拟驾驶平台放到 CAVE中 ,与虚拟图形系统、输入输出系统组成虚拟驾驶系统。通过虚拟驾驶系统来对重型筑路机械的设计进行评价 ,如方向盘、油门、刹车踏板和其它操纵机构的设计是否满足人机工程的要求。在该平台的设计中我们使用了连杆机构 ,可使方向盘、操纵杆等在一定区域内非常方便地调节 ,这样不同类型的重型筑路机械均可使用该平台来组成虚拟驾驶系统。我们设计了专门的程序来对四杆机构的运动进行仿真 ,以便选择正确的连杆尺寸。最后 ,文章介绍了动感椅的集成。

Virtual design and manufacturing for heavy ground vehicles can be used to reduce error in the design process and shorten the lead time greatly for them. This paper introduces the design of a reconfigurable driving simulator platform for a category of heavy ground vehicles while complying with the ISO6682 specifications. We will use the platform in CAVE together with the virtual scene graph and input and output system to set up a virtual driving system. Using the virtual driving system, we can evaluate the design of different kind of heavy ground vehicles, and to check whether the design of steering wheel, gas pedal and levers control comply with the needs of man-machine engineering. For the platform, we used a set of four-bar link mechanisms, which is easily reconfigurable, thus we can use it for a category of heavy ground vehicles to build up a virtual driving system. We use a special program to analyze the motion of the four-bar link mechanism to select the right sizes of the link bars. Finally, we introduce the integration of a motion base to simulate the X, Y, Z movements, i.e.roll, pitch, yaw orientations of a driver.