| The loader is a mobile machinery shop which carries on spade's pack to transport with short distance to the lax material,and which is applied in the mineral mountain, port, railroad, highway extensively, the marine hydraulic engineering and cities constuction etc.Along with the our country development of the economic construction, the loader industry in the yield, model number, species, production scale etc. increases continuously, and it become growing in the engineering machine profession most quickly, one of the biggest models in the market demand. Through experiments and the examination correlative inquisition from the customers, most problems are these which product credibility is not high, the technique content is low and the operation is uncomfortable. These problems caused that domestic loaders almost had no position on local important project.So in order to shorten space with th abroad advanced level we should fasten the improvement of technique innovation of the loader, and aggressively devote to the manpower and material resources on the development, which are helpful for the improvement of the market competition ability of the loader.It matchs our country state of the nation.The optimization of the working-equipment of the loader is main content of loader design. The working-equipment of the loader is a six-rod connected mechanicsm in space which is responsible for loading, elevating, unloading and such motions, is one of main components of loader, the optimization level of which bear directly on the ability of working-equipment is good or bad, and further is work efficiency and economic ability etc. This text investigates a new product development method to above-mentioned problem exactly. To simulate the movement (mainly working-equipment) of the loader with the computer based on the virtual simulation technology can provide the technique support towards the following improvement of the loader, for example, the optimization of the working-equipment of the loader, the design of the bucket with automatism-flat etc…This article uses virtual simulation technology to realize the working process of loader, and it not only reduces the cost of product, shortens the design period of product, but also offers convenience to the training driver of loader, it can do at any time with no dangers and very low cost.The is still no simulator for simulate the working process of loadr.The technology of computer three-Dimension(3-D) simulation is a very important method . Using the technology of computer graphic image build 3D model or reappear the real environment.This can get the vivid simulation purpose. It makes user feel that he or she is in that environment.It can realize mutual interactive,and also supply to the user direct basis.In this paper,it mainly introduce simulation of loader's working process on special materiel in a special scene, Including building loader(mainly work-equipment) 3D model,terrain and physiognomy,sky scene and kinetic model of loder's working process and so on..By calculating parameter of working process's kinetics, we can get the correct results of every mechanism of loader.The paper includes such contents as follows.Firstly, it mainly introduces background of external and internal simulation.At the same time give summarize of virtual reality technology.Secondly it mainly established a two degree-of-freedom mathematic model of loader's work-equipment and turning dynamics mathematic model during the processing of loader motion.Based on the separated mathematic model, we can separate loaer's working process into two:elevating of arm and turnover of bucket. The paper applied the calculating method-the Runge-Kung method to calculate the equation of maneuvering mathematical model.Thirdly it do research on the development environment of visual simulation,it mainly introduces the software environment of loader's working process visual simulation system.The paper mainly uses three software:3D model building MultiGen Creator,3D real-time visual management software OpenGVS and Visual C++.The flow of 3D model using MultiGen Creator ,all kinds of facilities of OpenGVS, and its key technology and technology difficulty and solutions in the development environment of visual simulation .It is the basis of ship simulation system.Lastly The reality of virtual simulation system. Reality of drive section has been brought forward.First,according to the working process of loader request we proposed all of objects'function that simulation needs.Then ,we introduced objects of the scene separately such as loader,light,fog and so on. Last we give the steps on how to use this simulation software. The realization of loader manoeuvre is controlled by keyboard and joysticks; Special effect such as light and fog in the scene are designed by OpenGVS API; Flexible viewpoint is realized by callback function. At last we can establish a complete working process of loader virtual simulation system.The study of Simulation system in this paper can draw following production:1.Through building a two degree-of-freedom mathematic model of loader's work-equipment and turning and dynamics mathematic model during the processing of loader motion. Loader works on special materiel in a special scene, can satisfied the simulation reality very well;2.3D loader model has been developed ,and the working-equipment is based on the true dimensition of a loader(refer to appendix).This can enhance the authenticity of the simulation;3.It has developed a suit of loader's working process programme.Manipulator can control the loader to procee by keyboard,joystick and other external equipments;4.Multiple cameras and multiple viewports track technology can realize human-machine real-time interactive.This can fully embody the quality of real-time and alternation;5.High quality graphics picture.It can realize all kinds of special graphic effects such as air, sunlight, fog and so on.This can reinforce the truth;6.The virtual scene has real cubic feeling,it makes the driver feel far and near,depth and so on. |
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