【摘要】：試衣機器人是模仿人體體形的一種機電裝置,替代真人試衣,獲得服裝在不同體形人體上的著裝效果,被認為是解決服裝電子商務(wù)中試衣難題的有效方法。現(xiàn)有的試衣機器人主要采用分塊曲面結(jié)構(gòu),用特定形狀大小的彈性面板來模擬人體上相應(yīng)的分塊區(qū)域。在模擬人體體形過程中,由于彈性面板只能沿特定方向移動,因此會導(dǎo)致仿形靈活性不足;而相鄰彈性面板間容易錯位導(dǎo)致仿形精確性不足。本文提出了一種新的試衣機器人模型,采用柔帶網(wǎng)格的結(jié)構(gòu),試衣機器人外表面設(shè)置有縱向柔帶和橫向柔帶交織構(gòu)成的柔帶網(wǎng)格,通過內(nèi)部彈性曲桿的移動控制橫向柔帶形狀模擬不同人體體形。研究內(nèi)容主要分為以下幾個部分:(1)試衣機器人的幾何結(jié)構(gòu)設(shè)計。通過特征曲線網(wǎng)格模型來表示試衣機器人的外形。根據(jù)參數(shù)化人體表示方法,設(shè)計了能用柔帶模擬橫向和縱向特征線的試衣機器人的曲線網(wǎng)格模型。其特征曲線既能充分表示人體形狀特征,也能便于被機械機構(gòu)控制柔帶模擬。(2)根據(jù)試衣機器人幾何結(jié)構(gòu)的設(shè)計,設(shè)計了柔帶網(wǎng)格試衣機器人的機械結(jié)構(gòu)�？傮w結(jié)構(gòu)上根據(jù)人體內(nèi)部空間約束將試衣機器人分為肩部、胸部、腰部和臀部四個特征層,并設(shè)計了縱向柔帶的分布。然后分別設(shè)計了肩部、胸部、腰部和臀部特征層中控制橫向柔帶的彈性件形狀和數(shù)量以及控制彈性件位置變化的驅(qū)動機構(gòu)。(3)試衣機器人的仿形計算。主要包括反向仿形求解和正向仿形求解。反向仿形求解是通過目標人體形狀來求解彈性曲桿的位置和形狀變化,并通過位置和形狀變化分別求解出對應(yīng)的控制彈性曲桿移動和柔帶長度的電機的控制參數(shù)。正向仿形求解是通過控制參數(shù)求解出相應(yīng)推桿鉸接端彈性曲桿的位置和柔帶長度,求解機器人的柔帶網(wǎng)格形狀。基于上述研究,本文開發(fā)了柔帶網(wǎng)格試衣機器人原型系統(tǒng),可以根據(jù)人體模型控制機器人的形變。
[Abstract]:The fitting robot is a kind of electromechanical device which imitates the human body shape, replaces the real person fitting, obtains the clothing effect on the different body shape human body, is considered to be the effective method to solve the clothing electronic commerce fitting difficult problem. The existing fitting robot mainly uses the block curved surface structure, using the specific shape and size of the elastic panel to simulate the corresponding regions on the human body. In the process of simulating human body shape, the elastic panel can only move along a specific direction, so it will lead to insufficient copying flexibility, while the misalignment between adjacent elastic panels will lead to insufficient copying accuracy. In this paper, a new model of fitting robot is proposed. The structure of flexible belt mesh is adopted, and the outer surface of the robot is equipped with a flexible belt mesh composed of longitudinal and transverse flexible bands. Different human body shapes are simulated by moving and controlling the lateral flexible band shape of the internal elastic curved rod. The main research contents are as follows: (1) geometric structure design of fitting robot. The shape of the fitting robot is represented by the characteristic curve grid model. According to the parameterized representation of human body, a curved mesh model of a fitted robot which can simulate the transverse and longitudinal characteristic lines with flexible belt is designed. The characteristic curve can not only fully represent the shape of human body, but also can be easily controlled by mechanical mechanism. (2) according to the geometric structure design of the fitting robot, the mechanical structure of the flexible belt mesh fitting robot is designed. In the overall structure, the robot is divided into four characteristic layers: shoulder, chest, waist and buttocks according to the internal space constraints of human body, and the distribution of longitudinal flexible belt is designed. Then the shape and quantity of elastic parts and the driving mechanism to control the change of elastic parts' position in the characteristic layers of shoulder chest waist and hip are designed respectively. (3) the copying calculation of fitting robot. It mainly includes reverse copying solution and forward copying solution. Reverse copying solution is to solve the position and shape change of the elastic curved rod by the shape of the target human body, and the corresponding control parameters of the motor which control the movement of the elastic curved rod and the length of the flexible belt are obtained by the change of position and shape respectively. The forward copying solution is to solve the position and the flexible band length of the elastic curved bar at the hinge end of the corresponding push rod by controlling the parameters, and to solve the flexible belt mesh shape of the robot. Based on the above research, a prototype system of flexible strip mesh fitting robot is developed, which can control the deformation of robot according to the human model.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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