Abstract: The present virtual assembly simulation method mostly focused on relationship establishment of product itself and space interference analysis of assembly process, while comprehensive influence of all the assembly elements including assembly operator was taken into less consideration.Therefore, a complete assembly simulation environment included human, tools, products and environment based on 15 rigid body kinematic model of virtual human was established. A method of vrtual human interaction realization under real human's motion driving was proposed, which included virtual human's operation to virtual hands, virtual hands'operation to tools and products, relationship establishment of products. A virtual assembly simulation prototype system based on above researches was developed, and a multi-function power head of vertical lathe was taken as an example to validate the correctness and validity of proposed method.

Key words: virtual reality, assembly, operating simulation, virtual human, interactive operation

摘要： 鉴于目前的虚拟装配仿真方法侧重于产品本身的装配关系建立，包含装配工具的装配过程空间干涉分析，而对包含装配操作者在内的全部要素的综合影响考虑较少，基于15刚体虚拟人运动学模型建立包含人、工具、产品和环境在内的完整装配仿真环境，提出真实人体驱动下的虚拟人交互装配操作实现方法，包括虚拟人对虚拟手的操作、虚拟手对工具或产品的操作、产品在装配过程的装配关系形成等，以支持包含完整装配要素的虚拟装配仿真。基于这些方法开发了虚拟装配仿真原型系统，并以一个立式车床的多功能动力头的交互装配操作验证了所提的实现方法和处理逻辑。

关键词: 虚拟现实, 装配, 操作仿真, 虚拟人, 交互操作