基于VC++的并联机械手轨迹规划及算法  

The algorithm of parallel manipulator trajectory based on VC++

作　　者：王旋[1] 魏世民[1] 廖启征[1] 

机构地区：[1]北京邮电大学自动化学院,100075

出　　处：《微计算机信息》2008年第29期206-207,201,共3页Control & Automation

基　　金：国家自然科学基金项目(50475161)

摘　　要：介绍了新型3p6ss并联机械手轨迹的规划和算法。该项目以vc++为基础,利用OpenGL进行实体仿真建模后,优化仿真软件,研究可交互性轨迹算法,用c语言编程,实现轨迹的可操控性,可选择性。利用mathmatica计算实体机械手轨迹及相应驱动电机转数。文章同时给出了仿真结果。Introduced a algorithm of a new type 3p6ss parallel manipulator trajectory by using c＋＋ and mathematic. After developed a robot simulation software, optimized it. Research a algorithm that the simulation manipulator and real robot can not only achieve the only trajectory which has been planned ,but also can achieve the trajectories in accordance with the demands of users by using VC＋＋ and Mathmatica. Give the result of simulation.

关 键 词：并联机械手 OPENGL仿真 轨迹规划 Mathmatica 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术] TP241.3[自动化与计算机技术—计算机科学与技术]