考虑航天员肢体干扰的载人机动装置虚拟样机系统  

Virtual Prototyping System of Manned Maneuvering Unit Considering the Disturbance from Astronaut's Limbs

作　　者：程剑[1] 范秀敏[1] 洪鑫 徐安[1] 黄卫东 

机构地区：[1]上海交通大学机械与动力学院,上海200030 [2]上海航天动力机械研究所,上海200233

出　　处：《上海交通大学学报》2005年第1期129-133,共5页Journal of Shanghai Jiaotong University

摘　　要：叙述了虚拟现实环境下载人机动装置(MMU)虚拟样机系统的组成.在装备MMU的航天员动力学/运动学模型的基础上,建立了失重状态下航天员上肢运动的干扰模型.设计3组预设姿势测量后,进行操作者位姿跟踪设备的实时校正与标定,将跟踪得到的操作者上肢运动轨迹作为航天员肢体扰动的输入,在仿真环境下进行了加载和未加载干扰模型的仿真试验,从仿真数据对比看,肢体的运动对航天员的空间机动过程有很大的影响.This paper described the composition of manned maneuvering unit (MMU) virtual prototyping system in the virtual reality environment. Based on the dynamics/kinematics model of astronaut equipped with MMU, a disturbance model of astronaut's arms under the zero gravity conditions was developed. After measuring three-initial-position information, the astronaut's arms trace information is input by some tracker setting on an operator using real-time emendation and correction. The paper presented two different results between loading and unloading the disturbance model within the progress of simulation. From the different results, it is found that the motion of astronaut's arms has greater influence on out-space walking with the same control mode. The virtual prototyping of MMU provides a new method for the simulation of real space walking, and also a perfect method for the development of prototyping of MMU.

关 键 词：载人机动装置 虚拟样机 肢体干扰模型 校正与标定 虚拟现实 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]