农机化研究2017，Vol.39Issue(12)：210-214,5.
基于Java3D和VRML技术的采摘机械手运动仿真研究
Motion Simulation of Picking Manipulator Based on Java 3D and VRML Technology
摘要
Abstract
In order to realize the picking and the interaction of the robot arm motion virtual simulation process, it proposed a mechanical arm interactive 3D scene generation and motion simulation system based on Java3D and VRML virtual reality technology.In order to validate the system feasibility,taking picking robot manipulator as the research object, based on the picking robot manipulator motion simulation system, based on the characteristics of the network, through the interface to import mechanical arm joint shape file, it realized the picking robot manipulator simulation 3D virtual scene creating.Experiments were conducted on the system simulation.And the results of the experiment show that the development of harvesting robot manipulator 3D motion simulation system can the picking path planning reasonable, experiment and consistent trajectory can real-time display torque change of key and provide reference data for joint structure optimization.It is found that the maximum position deviation is not more than 1mm, and the reliability of the motion model and algorithm is verified by comparing the simulation target position and the preset position.关键词
采摘机器人/机械手臂/虚拟现实/VRML技术/Java3DKey words
picking robot/robot arm/virtual reality/VRML technology/3D Java分类
农业科技引用本文复制引用
汪应,罗元成..基于Java3D和VRML技术的采摘机械手运动仿真研究[J].农机化研究,2017,39(12):210-214,5.基金项目
重庆市教育委员会重点项目(1202086) （1202086）
