虚拟环境下采摘机械手行为仿真  

Behavior simulation of picking manipulator under virtual environment

作　　者：陈燕[1] 邹湘军[1] 徐东风[2] 蔡伟亮[1] 

机构地区：[1]华南农业大学工程学院南方农业机械与装备关键技术省部共建教育部重点实验室,广东广州510642 [2]华南农业大学信息学院人机交互研究中心,广东广州510642

出　　处：《机械设计》2010年第11期28-31,共4页Journal of Machine Design

基　　金：国家星火计划资助项目(2010GA780049);国家自然基金资助项目(50775079;30900870);广东省重点基金资助项目(9251064201000009);华南农业大学校长基金资助项目(2009X004)

摘　　要：为优化荔枝采摘机械手设计,针对复杂环境下采摘机械手行为的复杂性和不确定性,采用VC++和EONSDK开发了采摘机械手行为仿真系统。分析给出了仿真系统体系结构,从采摘机械手建模和模型优化及层次结构装配、运动学模型建立、采摘环境构建、三维模型数据转换和人机交互等方面研究系统的实现过程。最后,在仿真平台上通过事件驱动与路由机制实现了虚拟环境下采摘机械手运动、采摘等行为仿真。To optimize the design of litchi picking manipulator,for the complexity and uncertainty of the picking manipulator behaviors under complex environment,a picking manipulator behavior simulation system has been developed by using VC＋＋and EON SDK.The architecture of simulation system was given out through analyzing.More,the implementation process of the system was researched from several aspects as the picking manipulator＇s modeling and model optimization,model assembly of hierarchical structure,kinematics modeling,the build of picking environment,data conversion of 3D model,human-computer interaction and so on.Finally,behavior simulation such as Picking Manipulator＇s movement and picking in the virtual environment has been realized through event-driven mechanism in the simulation platform.

关 键 词：虚拟环境 采摘机械手 行为仿真 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]