Research And Realization Of Cooperative Lifting Simulation Based On Open Source's Engine

With the development of virtual reality and simulation technique, more and more simulation systems come into being for professional fields. Due to the burdensomeness and inefficiency of manual lift-planning as well as inconvenience of checking lifting-plan's feasibility and validity, how to improve project efficiency to reduce lifting cost with the help of simulation technique possess very important practical significance.Further more, modern lifting technology enjoy a rapid development—the weight of the lifting equipment increasing and the lifting environment more complex, so that there are more and more lifting projects carried out with two or even more cranes working together. In pursuit of a reasonable, efficient and reliable plan under two cranes' collaboration, this paper studies on cooperative lifting deeply and establishes its mathematical models as well as proposes the simulation method.After analysis and study of OGRE, an interactive graphics modeling system is constructed based on OGRE. Through analyzing the structure and characteristics of crawler crane, the 3D crane modeling and motional simulation method is proposed to realize powerful modeling capacity of 3D Simulation System.In order to improve validity and reliability of simulation system, this paper is dedicated to collision detection, three-dimensional distance calculation and dynamic simulation technique. By the Macro-Micro two phrases collision detection realizing, a good strategy is proposed to solve distance calculation. Based on ODE, dynamic modeling of cooperative lifting system is build. All of them provide a good simulation environment.Finally, applying all above studies in 3D Lifting Simulation System, a good cooperative lifting simulation is achieved. The results of system running indicate that the lifting simulation process can be observed vividly and also that the lifting project and procedure can be regulated simultaneously. Through the simulation, it can exclude infeasible project or avoid potential problem, so as to get a better lifting-plan by comparing the simulation results. In general, all above results provide a lot of information for planner and director to improve feasibility and validity of project. Furthermore, this paper establishes a good foundation for more complex lifting simulation.