基于Open Inventor的机器人运动仿真技术研究  

Technical research on the kinematics simulation of a robot based on open inventor

作　　者：侯国柱[1] 汤学华[1] 

机构地区：[1]上海电机学院机械学院,上海200245

出　　处：《机械设计与制造》2010年第6期161-162,共2页Machinery Design & Manufacture

基　　金：上海高校选拔培养优秀青年教师科研专项基金项目(sdj-07006)

摘　　要：机器人仿真过程中几何建模方法有多种,其中具有VRML输出接口的三维建模软件UG就是一个很好的选择,将从UG中导出的机器人模型用Open Inventor自带的文件接口读入,利用OIV的场景数据库进行智能管理,并基于Open Inventor虚拟场景技术和机器人运动学规划技术,利用VisualC++2005编程软件建立了机器人三维运动学仿真平台。结果表明,该仿真系统的实现途径是有效的,模型是可操作的。There are many kinds of geometry modeling methods in the robot simulation process.UG is one of the software with VRML output interface for three dimensional model building.The robot models exported from UG are read into Open Inventor owned by itself document.The robot models are intelligently managed by OIV scene database.The three dimensional kinematics simulation platform of a robot is established based on hypothetic scene technology and robot kinematics plan technology of Open Inventor using Visual C＋＋ 2005 programming software.The result indicated that this simulation system implementing way is effective and the model can be operated.

关 键 词：机器人 OPEN INVENTOR 仿真 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]