中文摘要：

基于物理模型的虚拟装配过程仿真是虚拟装配技术的发展趋势之一。针对当前虚拟装配技术对质量、力等物理属性考虑不足，其仿真过程没有反映真实世界中零部件装配运动的本质规律的问题，提出虚拟装配中基于多刚体动力学的物性装配过程仿真方法，实现以力为输入参数的零部件装配过程仿真。同时详细阐述该方法中的三项关键技术的实现方法，即面向物性仿真的基本物理属性建模技术、虚拟装配中多刚体动力学的数学建模方法、虚拟装配中刚体碰撞过程仿真与分析方法。目前该方法已在虚拟装配工艺规划系统（Virtual assembly process planning, VAPP）中进行了实现，并通过实例进行了验证。

英文摘要：

The model in current virtual assembly system is main geometrical model, and virtual assembly is deficient in the consideration about physical attribute, like mass and force so that the simulation result is inauthentic. Aiming at the problems above, the method on physical assembly process simulation based on multi-rigid-body dynamics in virtual assembly is presented so that assembly process simulation for parts with force input in virtual assembly is realized. The realization method of three key technologies in the method is described in detail： The technology of physical attribute modeling for physical assembly process simulation, the method of multi-rigid-body dynamics mathematic modeling and the method of rigid-body collision process simulation and analysis in virtual assembly. The method is implemented in proto-type system virtual assembly process planning（VAPP） and is validated through some examples.