给出了沉浸式虚拟维修仿真系统的框架，从样机建模和交互技术两个方面对其关键技术进行了研究．提出

了虚拟维修样机的概念，通过定义样机部件的约束运动和交互特征来实现其所要求功能，而交互技术则主要集中在

抓取和防穿越处理上．建立了基于Jack系统的沉浸式虚拟维修仿真原型系统，并以某机构的拆装为例对其进行了初

步的应用验证-Give the Immersive Virtual Maintenance Simulation System framework, from prototype modeling and interactive technology for its two key technology areas were studied. Put forward the concept of a virtual prototype of repair, by the definition of prototype components bound to exercise and interactive features of implementation of its functional requirements, and the interactive technology was mainly concentrated in the crawl up and deal with anti-crossing. Jack set up a system based on Immersive Virtual Maintenance Simulation prototype system and the dismantling of an institution as an example of its application for a preliminary verification