基于Open Inventor的六自由度并联机器人虚拟同步运动研究  

Research on virtual synchronous motion of 6-DOF parallel robot based on Open Inventor

作　　者：王海涛[1] 郝矿荣[1,2] 丁永生[1,2] 郭崇滨[1] 窦易文[1] 

机构地区：[1]东华大学信息科学与技术学院,上海201620 [2]数字化纺织服装技术教育部工程研究中心,上海201620

出　　处：《机电工程》2012年第6期627-631,共5页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金重点资助项目(61134009);国家自然科学基金资助项目(60975059,60775052);国家ITER计划国内配套研究资助项目(2010GB108004);教育部高等学校博士学科点专项科研基金资助项目(20090075110002);上海市优秀学术带头人计划资助项目(11XD1400100);上海市科学技术委员会重点基础研究资助项目(10JC1400200,09JC1400900);上海市科学技术委员会技术标准专项资助助目(10DZ0506500)

摘　　要：针对六自由度大载荷并联机器人的工作监控问题,以Open Inventor为开发平台,对并联机器人虚拟同步运动进行了研究。首先,用Pro/E进行了零部件建模,并导入Open Inventor开发环境,用VRML虚拟现实语言描述了各零部件的连接关系,搭建了虚拟机器人;然后,构建了由立体视觉和位置正解算法组成的复合检测系统,用以实时检测实体并联机器人的位姿;最后,将位姿信息传送至虚拟机器人,由Open Inventor借助其场景渲染能力,利用内置的引擎工具完成了虚拟机器人的同步运动。试验研究结果表明,该机器人虚拟运动逼真流畅,位姿检测精度能控制在0.05 mm内,位姿检测与计算带来的虚拟运动延迟能够控制在0.5 s内;系统不仅能够满足并联机器人一般监控的需要,还提供了一种可供参考的精确位姿检测方式。Aiming at the monitoring of 6-DOF large load parallel robot, a virtual synchronous motion system of parallel robot was studied by using Open Inventor as developing platform. Firstly, accessory models were created using Pro/E, and imported into Open Inventor. The relation of accessory models was described through VRML language to build virtual robot. Then, composite measurement algorithm based on stereo vision and positional solution was designed to detect the position and orientation of parallel robot in real time. Finally, data of position and orientation was transmitted to virtual robot, the virtual synchronous motion was completed by Open Inventor with it＇s effective rendering function and engine component. The experiment result shows that the virtual synchronous motion is fluent and realistic, the most error of position and orientation measured is less than 0.05 mm, the delay which caused by measurement and calculation of position and orientation is less than 0.5 s. The system is not only available to general monitoring of parallel, but also offers an effective method for high-precision measurement of position and orientation of parallel robot.

关 键 词：OPEN INVENTOR 并联机器人 位姿复合检测 虚拟同步运动 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH39[自动化与计算机技术—控制科学与工程]