【摘要】 简要阐述了进行航天员EVA(ExtraVehicularActivity)仿真的必要性和实现步骤。介绍了OpenGL的基本概念。在详细阐述了Kane方法、反向运动学以及反向动力学的基础上,给出了具体的实现仿真的算法。选取STS-63飞行中的航天员操纵大质量载荷为仿真对象,在做了适当简化的基础上,得到了7节段6自由度的航天员人体模型。对模型进行了求解,用OpenGL根据结果实现了EVA的动画显示。对求解结果和动画序列进行了分析,得出了结论。更多还原

【Abstract】 The feasibility and realize steps of computational simulation of the EVA(Extra Vehicular Activity)are described.The basic concept of OpenGL is introduced.Based on the Kane’s method,inverse kinematics and inverse dynamics,the detailed arithmetic aiming to the simulation is built.A typical EVA,an actual large-mass-handling EVA performed on STS -63,is chosen as the example to simulate.Based on some simplifications,a human model with7segments and6degree of freedom for the EVA is established.By using the method introduced,the model is solved and the animation of the astronaut performing the EVA is carried out using OpenGL.The results are analyzed and some conclusions are drawn.更多还原