关键词: 虚拟装配, 装配定位, 后期装配, 装配力, 过程仿真

Abstract: To position the parts model accurately and simulate the later assembly process realistically in virtual environment,a assembly location method based on force guidance was proposed.The later assembly process was divided into N simulation moments.At each moment,the dynamic motion equations of part's position,attitude,gravity,assembly forces and assembly torque were established.By solving the motion equations,the position,attitude,velocity and angular velocity of the assembling part at the next moment were obtained,and the process of pose transformation was repeated until a certain pose and the target pose of the assembling part satisfy the assembly requirements.Under the affection of part properties,visual and human factors,the calculation methods of assembly force,contact force and assembly torque were given.The effects of the visual and human factors on the assembly efficiency and success rate were analyzed,and the influence of structural factors on product assemblability was also discussed.This algorithm was applied to a self-developed virtual assembly prototype system,and the result showed that this algorithm could provide a realistic and accurate assembly motion navigation in virtual space.

Key words: virtual assembly, assembly location, later assembly, assembly force, process simulation