桥式抓斗卸船机被广泛应用于矿石、煤炭等货船的卸载中,通过控制抓斗的三维运动和开闭,从货舱内抓取散货卸载到码头。为了实现对卸船机作业的真实模拟,采用物理建模和机构建模方法,对抓斗运动、动态挖掘、绳索松弛、多通道立体视景、音效、操作控制接口等一系列技术问题进行了研究,实现了沉浸式的桥式抓斗卸船机训练模拟器。 Bridge grab ship unloader is widely used in the unloading of cargo ships such as ore and coal. By controlling the three-dimensional movement of the grab and opening and closing, the unloader is grabbed from the cargo space and unloaded to the dock. In order to realistically simulate the operation of ship unloader, a series of technical problems such as grab movement, dynamic excavation, rope relaxation, multi-channel stereoscopic viewing, sound effect, operation control interface and so on were carried out using physical modeling and mechanism modeling methods Research, realize the immersive bridge grab ship unloader training simulator.