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以虚拟现实技术为基础构建实时动力学仿真系统,既要能够呈现逼真的视景仿真效果,还要具有较高的力学仿真精度和实时计算性能。针对海洋环境作业模拟与水下应急维修仿真应用需求,将Vortex物理仿真引擎与Vega Prime虚拟现实平台相结合构建实时动力学虚拟仿真环境,通过对作业环境和工机具进行物理属性建模和几何属性建模,设计并实现了对刚体、柔性绳索、海洋水体和海底地形等主要模型进行动力学仿真的关键技术。在水下机器人下放训练系统中应用上述仿真技术,通过优化仿真模型和仿真过程,得到了具有高度物理真实感的实时动力学仿真结果。
To build real-time dynamic simulation system based on virtual reality technology, it is necessary to be able to present a realistic visual simulation effect, but also have high mechanical simulation accuracy and real-time computing performance. In order to meet the needs of simulation and underwater emergency repair application in marine environment, a real-time dynamic virtual simulation environment was constructed by combining Vortex physical simulation engine with Vega Prime virtual reality platform. Through modeling physical properties and geometric attributes of working environment and work tools, Modeling, design and implementation of the key technologies of dynamic simulation of the main models of rigid body, flexible rope, ocean water and the seafloor topography. The above simulation technology is applied to the underwater robot’s decentralized training system, and real-time dynamics simulation results with high physical reality are obtained by optimizing the simulation model and the simulation process.