机械科学与技术2018，Vol.37Issue(4)：599-606,8.DOI:10.13433/j.cnki.1003-8728.2018.0417
一种开放式机械臂3D虚拟仿真平台快速构建方法
A Quick Method of Constructing Open and 3D Manipulator Virtual Simulation Platform
摘要
Abstract
To carry out the three-dimensional motion simulation of a modular manipulator and its real-time online control,a fast and efficient method of constructing an open 3D manipulator virtual simulation platform was presented.The method was carried out by using as an environment platform the MATLAB software that has powerful data processing capacity.The functions of professional solid modeling software of SolidWorks,the practical modeling functions of robotic toolbox and the MATLAB GUI interaction design and 3D animation and display technology of MATLAB were applied to the construction of a good visualization,the powerful function of the input and output and the realistic and detailed model of the 3D manipulator virtual simulation platform.Taking the Schunk six-DOF modular manipulator as example,the implementation procedures of this method were described in detail,thus realizing the high-level open and 3D manipulator virtual simulation platform with realistic visualization.Some of simulation graphs are displayed.The test results show that this method can quickly construct the 3D virtual simulation platform with good usability and high maneuverability,which can meet the needs of scientific research and teaching.The test results also prove the effectiveness of our method.关键词
虚拟仿真平台/快速构建/模块化机械臂/可视化/3D动画显示Key words
virtual simulation platform/MATLAB, modular manipulator/visualization/3D animation分类
信息技术与安全科学引用本文复制引用
李宪华,张雷刚,郭帅,宋韬,张军..一种开放式机械臂3D虚拟仿真平台快速构建方法[J].机械科学与技术,2018,37(4):599-606,8.基金项目
国家高技术研究发展计划(863计划)项目(2007AA041604)、安徽高校自然科学研究重点项目(KJ2016A200)和安徽省科技重大专项项目(16030901012)资助 （863计划）
