JS500混凝土搅拌机设计【说明书+CAD】
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混凝土搅拌机
设计
说明书
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cad
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HAVE2007IEEEINTERNATIONALWORKSHOPONHAPTICAUDIOVISUALENVIRONMENTSANDTHEIRAPPLICATIONSOTTAWA,CANADA1214OCTOBER2007EXTENDINGBLENDERDEVELOPMENTOFAHAPTICAUTHORINGTOOLSHELDONANDREWS,MOHAMADEID2,ATIFALAMRI2,ANDABDULMOTALEBELSADDIK2MULTIMEDIACOMMUNICATIONSRESEARCHLABORATORYMCRLABSCHOOLOFINFORMATIONTECHNOLOGYANDENGINEERINGUNIVERSITYOFOTTAWA,ONTARIO,KIN6N5,CANADASANDRO71SITEUOTTAWACA,2TEID,ATIFWABEDMCRLABUOTTAWACAABSTRACTINTHISPAPER,WEPRESENTOURWORKTOEXTENDAWELLKNOWN3DGRAPHICMODELERBLENDERTOSUPPORTHAPTICMODELINGANDRENDERINGTHEEXTENSIONTOOLISNAMEDHAMLATHAPTICAPPLICATIONMARKUPLANGUAGEAUTHORINGTOOLWEDESCRIBETHEMODIFICATIONSANDADDITIONSTOTHEBLENDERSOURCECODEWHICHHAVEBEENUSEDTOCREATEHAMLATFURTHERMORE,WEPRESENTANDDISCUSSTHEDESIGNDECISIONSUSEDWHENDEVELOPINGHAMLAT,ANDALSOANIMPLEMENTATION“ROADMAP“WHICHDESCRIBESTHECHANGESTOTHEBLENDERSOURCECODEFINALLY,WECONCLUDEWITHDISCUSSIONOFOURFUTUREDEVELOPMENTANDRESEARCHAVENUESKEYWORDSHAPTICSHAMLGRAPHICMODELERSBLENDERVIRTUALENVIRONMENTSIINTRODUCTIONAMOTIVATIONTHEINCREASINGADOPTIONOFHAPTICMODALITYINHUMANCOMPUTERINTERACTIONPARADIGMSHASLEDTOAHUGEDEMANDFORNEWTOOLSTHATHELPNOVICEUSERSTOAUTHORANDEDITHAPTICAPPLICATIONSCURRENTLY,THEHAPTICAPPLICATIONDEVELOPMENTPROCESSISATIMECONSUMINGEXPERIENCETHATREQUIRESPROGRAMMINGEXPERTISETHECOMPLEXITYOFHAPTICAPPLICATIONSDEVELOPMENTRISESFROMTHEFACTTHATTHEHAPTICAPPLICATIONCOMPONENTSSUCHASTHEHAPTICAPI,THEDEVICE,THEHAPTICRENDERINGALGORITHMS,ETCNEEDTOINTERACTWITHTHEGRAPHICCOMPONENTSINORDERTOACHIEVESYNCHRONICITYADDITIONALLY,THEREISALACKOFAPPLICATIONPORTABILITYASTHEAPPLICATIONISTIGHTLYCOUPLEDTOASPECIFICDEVICETHATNECESSITATESTHEUSEOFITSCORRESPONDINGAPITHEREFORE,DEVICEANDAPIHETEROGENEITYLEADTOTHEFRAGMENTATIONANDDISORIENTATIONOFBOTHRESEARCHERSANDDEVELOPERSINVIEWOFALLTHESECONSIDERATIONS,THEREISACLEARNEEDFORANAUTHORINGTOOLTHATCANBUILDHAPTICAPPLICATIONSWHILEHIDINGPROGRAMMINGDETAILSFROMTHEAPPLICATIONMODELERSUCHASAPI,DEVICE,ORVIRTUALMODELTHISPAPERDESCRIBESTHETECHNICALDEVELOPMENTOFTHEHAPTICAPPLICATIONMARKUPLANGUAGEAUTHORINGTOOLHAMLATITISINTENDEDTOEXPLAINTHEDESIGNDECISIONSUSEDFORDEVELOPINGHAMLATANDALSOPROVIDESANIMPLEMENTATION“ROADMAP“,DESCRIBINGTHESOURCECODEOFTHEPROJECTBBLENDERHAMLATISBASEDONTHEBLENDER1SOFTWARESUITE,WHICHISANOPENSOURCE3DMODELINGPACKAGEWITHARICHFEATURESETITHASASOPHISTICATEDUSERINTERFACEWHICHISNOTEDFORITSEFFICIENCYANDFLEXIBILITY,ASWELLASITSSUPPORTSFORMULTIPLEFILEFORMATS,PHYSICSENGINE,MODEMCOMPUTERGRAPHICRENDERINGANDMANYOTHERFEATURESBECAUSEOFBLENDERSOPENARCHITECTUREANDSUPPORTIVECOMMUNITYBASE,ITWASSELECTEDASTHEPLATFORMOFCHOICEFORDEVELOPMENTOFHAMLATTHEOPENSOURCENATUREOFBLENDERMEANSHAMLATCANEASILYLEVERAGEITSEXISTINGFUNCTIONALITYANDFOCUSONINTEGRATINGHAPTICFEATURESWHICHMAKEITACOMPLETEHAPTOVISUALMODELINGTOOL,SINCEDEVELOPINGA3DMODELINGPLATFORMFROMSCRATCHREQUIRESCONSIDERABLEDEVELOPMENTTIMEANDEXPERTISEINORDERTOREACHTHELEVELOFCODEINTOTHEHAMLATSOURCETREEHAMLATBUILDSONEXISTINGBLENDERCOMPONENTS,SUCHASTHEUSERINTERFACEANDEDITINGTOOLS,BYADDINGNEWCOMPONENTSWHICHFOCUSONTHEREPRESENTATION,MODIFICATION,ANDRENDERINGOFHAPTICPROPERTIESOFOBJECTSINA3DSCENEBYUSINGBLENDERASTHEBASISFORHAMLAT,WEHOPETODEVELOPA3DHAPTICMODELINGTOOLWHICHHASTHEMATURITYANDFEATURESOFBLENDERCOMBINEDWITHTHENOVELTYOFHAPTICRENDERINGATTHETIMEOFWRITING,HAMLATISBASEDONBLENDERVERSION243SOURCECODECPROJECTGOALSASPREVIOUSLYSTATED,THEOVERALLGOALFORTHEHAMLATPROJECTISTOPRODUCEAPOLISHEDSOFTWAREAPPLICATIONWHICHCOMBINESTHEFEATURESOFAMODEMGRAPHICMODELINGTOOLWITHHAPTICRENDERINGTECHNIQUESHAMLATHASTHE“LOOKANDFEEL“OFA3DGRAPHICALMODELINGPACKAGE,BUTWITHTHEADDITIONOFFEATURESSUCHASHAPTICRENDERINGANDHAPTICPROPERTYDESCRIPTORSTHISALLOWSARTISTS,MODELERS,ANDDEVELOPERSTOGENERATEREALISTIC3DHAPTOVISUALVIRTUALENVIRONMENTSAHIGHLEVELBLOCKDIAGRAMOFHAMLATISSHOWNINFIGURE1ITILLUSTRATESTHEFLOWOFDATAINTHEHAPTICMODELINGHAMLATASSISTSTHEMODELER,ORAPPLICATIONDEVELOPER,INBUILDINGHAPTOVISUALAPPLICATIONSWHICHMAYBESTOREDINADATABASEFORLATERRETRIEVALBYANOTHERHAPTICAPPLICATIONBYHAPTOVISUALAPPLICATIONWEREFERTOANYSOFTWAREWHICHDISPLAYSA3DSCENEBOTHVISUALLYANDHAPTICALLYTOAUSERINAVIRTUALSETTINGANXMLFILEFORMAT,CALLEDHAML2,ISUSEDTODESCRIBETHE3DSCENESANDSTORETHEHAPTOVISUALENVIRONMENTSBUILTBYAMODELERFORLATERPLAYBACKTOANENDUSERTRADITIONALLY,BUILDINGHAPTOVISUALENVIRONMENTSHASREQUIREDASTRONGTECHNICALANDPROGRAMMINGBACKGROUNDTHETASKOFHAPTICALLYRENDERINGA3DSCENEISTEDIOUS1108SINCEHAPTICPROPERTIESMUSTBEASSIGNEDTOINDIVIDUALOBJECTSINTHESCENEANDCURRENTLYTHEREAREFEWHIGHLEVELTOOLSFORACCOMPLISHINGTHISTASKHAMLATBRIDGESTHISGAPBYINTEGRATINGINTOTHEHAMLFRAMEWORKANDDELIVERINGACOMPLETESOLUTIONFORDEVELOPMENTOFHAPTOVISUALAPPLICATIONSREQUIRINGNOPROGRAMMINGKNOWLEDGETHEREMAINDEROFTHEPAPERISORGANIZEDASFOLLOWSINSECTION2,WEPRESENTTHEPROPOSEDARCHITECTUREEXTENSIONSANDDISCUSSDESIGNCONSTRAINTSSECTION3DESCRIBESTHEIMPLEMENTATIONDETAILSANDHOWHAPTICPROPERTIESAREADDEDANDRENDEREDWITHINTHEBLENDERFRAMEWORKINSECTION4WEDISCUSSRELATEDISSUESANDFUTUREWORKAVENUESIISYSTEMOVERVIEWANDARCHITECTURETHEBLENDERDESIGNPHILOSOPHYISBASEDONTHREEMAINTASKSDATASTORAGE,EDITING,ANDVISUALIZATIONACCORDINGTOTHELEGACYDOCUMENTATION3,ITFOLLOWSADATAVISUALIZEEDITDEVELOPMENTCYCLEFORTHE3DMODELINGPIPELINEA3DSCENEISREPRESENTEDUSINGDATASTRUCTURESWITHINTHEBLENDERARCHITECTURETHEMODELERVIEWSTHESCENE,MAKESCHANGESUSINGTHEEDITINGINTERFACEWHICHDIRECTLYMODIFIESTHEUNDERLYINGDATASTRUCTURES,ANDTHENTHECYCLEREPEATSTOBETTERUNDERSTANDTHISDEVELOPMENTCYCLE,CONSIDERTHEREPRESENTATIONOFA3DOBJECTINBLENDERA3DOBJECTMAYBEREPRESENTEDBYANARRAYOFVERTICESWHICHHAVEBEENORGANIZEDASAPOLYGONALMESHUSERSMAYCHOOSETOOPERATEONANYSUBSETOFTHISDATASETEDITINGTASKSMAYINCLUDEOPERATIONSTOROTATE,SCALE,ANDTRANSLATETHEVERTICES,ORPERHAPSAREMESHINGALGORITHMTO“CLEANUP“REDUNDANTVERTICESANDTRANSFORMFROMAQUADTOATRIANGLETOPOLOGYTHEDATAISVISUALIZEDUSINGAGRAPHICAL3DRENDERERWHICHISCAPABLEOFDISPLAYINGTHEOBJECTASAWIREFRAMEORASASHADED,SOLIDSURFACETHEVISUALIZATIONISNECESSARYINORDERTOSEETHEEFFECTSOFEDITINGONTHEDATAINANUTSHELL,THISEXAMPLEDEFINESTHEDESIGNPHILOSOPHYBEHINDBLENDERSARCHITECTUREINBLENDER,DATAISORGANIZEDASASERIESOFLISTSANDBASEDATATYPESARECOMBINEDWITHLINKSBETWEENITEMSINEACHLIST,CREATINGCOMPLEXSCENESFROMSIMPLESTRUCTURESTHISALLOWSDATAELEMENTSINEACHLISTTOBEREUSED,THUSREDUCINGTHEOVERALLSTORAGEREQUIREMENTSFOREXAMPLE,AMESHMAYBELINKEDBYMULTIPLESCENEOBJECTS,BUTTHEPOSITIONANDORIENTATIONMAYCHANGEFOREACHOBJECTANDTHETOPOLOGYOFTHEMESHREMAINSTHESAMEADIAGRAMILLUSTRATINGTHEORGANIZATIONOFDATASTRUCTURESANDREUSEOFSCENEELEMENTSISSHOWNINFIGURE2ASCENEOBJECTLINKSTOTHREEOBJECTS,EACHOFWHICHLINKTOTWOPOLYGONALMESHESTHEMESHESALSOSHAREACOMMONMATERIALPROPERTYTHEENTIRESCENEISRENDEREDONONEOFSEVERALSCREENS,WHICHVISUALIZESTHESCENEWEADOPTTHEBLENDERDESIGNAPPROACHFOROURAUTHORINGTOOLTHEDATASTRUCTURESWHICHAREUSEDTOREPRESENTOBJECTSINA3DSCENEHAVEBEENAUGMENTEDTOINCLUDEFIELDSFORHAPTICPROPERTIESEG,STIFFNESS,DAMPINGUSERINTERFACECOMPONENTSEG,BUTTONPANELSWHICHALLOWTHEMODELERTOCHANGEOBJECTPROPERTIESHAVEALSOBEENUPDATEDTOINCLUDESUPPORTFORMODIFYINGTHEHAPTICPROPERTIESOFANOBJECTADDITIONALLY,ANINTERACTIVEHAPTOVISUALRENDERERHASBEENIMPLEMENTEDTODISPLAYTHE3DSCENEGRAPHICALLYANDHAPTICALLY,PROVIDINGTHEMODELERORARTISTWITHIMMEDIATEFEEDBACKABOUTTHECHANGESTHEYMAKETOTHESCENEINTHECURRENTVERSIONOFTHEHAMLATTHEMODIFICATIONSTOTHEBLENDERFRAMEWORKINCLUDEDATASTRUCTURESFORREPRESENTINGHAPTICPROPERTIES,ANEDITINGINTERFACEFORMODIFYINGHAPTICPROPERTIES,ANEXTERNALRENDERERFORDISPLAYINGANDPREVIEWINGHAPTICALLYENABLEDSCENES,SCRIPTSWHICHALLOWSCENESTOBEIMPORTED/EXPORTEDINTHEHAMLFILEFORMATACLASSDIAGRAMOUTLININGTHECHANGESTOTHEBLENDERRAMEWORKISSHOWNINFIGURE3COMPONENTSWHICHAREERTINENTTOHAMLATARESHADEDINGRAYHAMLATBUILDSONEXISTINGBLENDERSUBSYSTEMSBYEXTENDINGTHEMORHAPTICMODELINGPURPOSESDATASTRUCTURESFORREPRESENTINGOBJECTGEOMETRYANDGRAPHICALRENDERINGAREAUGMENTEDTOINCLUDEFIELDWHICHENCOMPASSTHETACTILEPROPERTIESNECESSARYFORHAPTICRENDERINGTOALLOWTHEUSERTOMODIFYHAPTICPROPERTIESGUICOMPONENTSAREINTEGRATEDASPARTOFTHEBLENDEREDITINGPANELSTHEOPERATIONSTRIGGEREDBYTHESECOMPONENTSOPERATEDIRECTLYONTHEDATASTRUCTURESUSEDFORREPRESENTINGHATICCUESANDMAYBECONSIDEREDPARTOFTHEEDITINGSTEPOFTHEBLENDERDESIGNCYCLESIMILARLYTOTHEBUILTINGRAPHICALRENDERER,HAMLATUSESACUSTOMRENDLERERFORDISPLAYING3DSSCENESGRPHCALANDHAPTCALL,ANISINEEDNOFTHEBLENDERRENDERERTHISCOMPONENTISDEVELOPEDINDEPENDENTLYSINCEHAPTICALANDGRAPHICALRENDERINGMUSTBEPERFORMEDSIMULTANEOUSLYANDSYNCHRONOUSLYASIMULATIONLOOPISUSEDTOUPDATEHAPTICRENDERINGFORCESATARATEWHICHMAINTAINSSTABILITYANDQUALITYADETAILEDDISCUSSIONOFTHEIMPLEMENTATIONOFTHESECLASSESANDTHEIRCONNECTIVITYISGIVENINTHENEXTSECTIONIIIIMLIEMENTATIONADATASTRUCTUREA1MESHDATATYPEBLENDERUSESMANYDIFFERENTDATASTRUCTURESTOREPRESENTTHEVARIOUSTYPESOFOBJECTSINA3DSCENEAVERTICESALAMPCONTAINSCOLOURANDINTENSITYVALUESANDCAMERAAOBJECTCONTAINSINTRINSICVIEWINGPARAMETERSTHEMESHDATASTRUCTUREISUSEDBYTHEBLENDERINFRAMEWORKTODESCRIBEAPOLYGONALMESHOBJECTITISOFPARTICULARINTERESTFORHAPICRENDERINGSINCEMANYSOLIDOBJECTSINA3DSCENEMAYBEREPRESENTEDUSINGTHISTYPEOFDATASTRUCTURETHETACTILEANDKINESTHETICCUES,WHICHAREDISPLAYEDDUETOINTERACTIONWITHVIRTUALOBJECTS,ARETYPICALLYRENDEREDBASEDONTHEGEOMETRYOFTHEMESHHPTICRENDERINGISPERFORMEDBASEDPRIMARYONDATASTOREDINTHISDATATYPEOTHERSCENECOMPONENTSSUCHASLAMPS,CAMERAS,ORLINESARENOTINTUITIVELYRENDEREDUSINGFORCEFEEDBACKHAPTICDEVICESANDARETHEREFORENOTOFCURRENTINTERESTFORHAPTICRENDERINGANAUGMENTEDVERSIONOFTHEMESHDATASTRUCTUREISSHOWNINFIGURE4ITCONTAINSFIELDSFORVERTEXANDFACEDATA,PLUSSOMESPECIALCUSTOMDATAFIELDSWHICHALLOWDATATOBESTOREDTO/RETRIEVEDFROMDISKANDMEMORYWEHAVEMODIFIEDTHISDATATYPETOINCLUDEAPOINTERTOAMHAPTICSDATASTRUCTURE,WHICHSTORESHAPTICPROPERTIESSUCHASSTIFFNESS,DAMPING,ANDFRICTIONFORTHEMESHELEMENTSFIGURE5A2EDITMESHDATATYPEITSHOULDBENOTEDTHATTHEMESHDATATYPEHASACOMPLIMENTARYDATASTRUCTURE,CALLEDEDITMESH,WHICHISUSEDWHENEDITINGMESHDATAITHOLDSACOPYOFTHEVERTEX,EDGE,ANDFACEDATAFORAPOLYGONALMESHWHENTHEUSERSWITCHESTOEDITINGMODE,THEBLENDERCOPIESTHEDATAFROMAMESHINTOANEDITMESHANDWHENEDITINGISCOMPLETETHEDATAISCOPIEDBACKCAREMUSTBETAKENTOENSURETHATTHEHAPICPROPERTYDATASTRUCTUREREMAINSINTACTDURINGTHECOPYSEQUENCETHEEDITMESHDATASTRUCTUREHASNOTBEENMODIFIEDTOCONTAINACOPYOFTHEHAPICPROPERTYDATA,BUTTHISMAYPROPERTIESINEDITMODEISREQUIREDTHEEDITING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