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Three-dimensional dynamic simulation method for space manipulator assisted docking process

A space manipulator, three-dimensional simulation technology, applied in image data processing, 3D image processing, 3D modeling, etc., can solve the problems of robotic arm motion control trouble, astronauts cannot see the robotic arm intuitively, etc., to achieve simulation Intuitive structure, good visual interaction performance, and more effect of simulation structure

Inactive Publication Date: 2017-06-06
HARBIN INST OF TECH
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Problems solved by technology

[0003] In order to solve the problem that ground command and control personnel and astronauts cannot see the mechanical arm intuitively, which brings trouble to the motion control of the mechanical arm, the invention further proposes a three-dimensional dynamic simulation method for the auxiliary docking process of the space mechanical arm

Method used

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  • Three-dimensional dynamic simulation method for space manipulator assisted docking process

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specific Embodiment approach 1

[0015] Specific implementation mode one: combine figure 1 To illustrate this embodiment, the three-dimensional simulation method for the auxiliary docking process of the space manipulator described in this embodiment is realized through the following steps:

[0016] Step 1. Build the implementation environment: use VC++ to build the system platform and human-computer interaction interface, and use the OSG 3D rendering engine to realize the 3D virtual simulation of the docking process assisted by the space manipulator;

[0017] Step 2. Three-dimensional virtual modeling and display of the space manipulator: use 3DSMAX and Multigen Creator to build and assemble the three-dimensional model of the space station and the manipulator, and establish space scenes adjacent to the earth, moon and sun;

[0018] Step 3. Establish a motion model: build a motion model of the space station based on the orbital dynamics model and attitude dynamics model, and import orbital parameters and attit...

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Abstract

The invention discloses a method for three-dimensional dynamic simulation in the space manipulator auxiliary butt-joint process and relates to a method for three-dimensional dynamic simulation. The method is used for solving the problem that due to the fact that command and control personnel on the ground and an astronaut cannot visually see a manipulator, great trouble is brought for control over movement of the manipulator. The method comprises the specific steps of realization environment establishment, space manipulator three-dimensional virtual modeling and displaying, movement model establishment, manipulator movement simulation based on a rocking bar controller, real-time rendering of force-receiving and deformation of a manipulator flexible arm lever, dynamic display of a movement track of the tail end of the manipulator, multi-view interactive roaming in the auxiliary butt-joint process and project value and curve display in the space manipulator auxiliary butt-joint process. The method is applied to the technical field of computer analogue simulation.

Description

technical field [0001] The invention relates to a three-dimensional dynamic simulation method, in particular to a three-dimensional dynamic simulation method for the auxiliary docking process of a space manipulator, and belongs to the technical field of computer simulation. Background technique [0002] The application of 3D computer simulation involves various aspects such as games, product display, virtual manufacturing and assembly, and aerospace simulation. Simulation visualization has become an important auxiliary means for researchers to develop simulation systems and carry out simulation experiments. The space robotic arm is an indispensable tool for in-depth manned spaceflight activities. In the space station system, it undertakes functions such as cabin capture and transfer, instrument equipment transfer and installation, and assisting astronauts to go out of the cabin. The space manipulator system belongs to large-scale space equipment, which has the characteristic...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T17/00G06T15/00
Inventor 魏承潘冬张玥许晓霞马超刘昊张瑞雄赵阳
Owner HARBIN INST OF TECH
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