一种串联机器人的实时运动仿真  

Real Time Kinematic Simulation of a Serial Robot

作　　者：张彦斐[1] 宫金良[1] 魏修亭[1] 

机构地区：[1]山东理工大学机械工程学院,山东淄博255049

出　　处：《组合机床与自动化加工技术》2013年第5期42-43,51,共3页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：山东省优秀中青年科学家科研奖励基金(BS2011ZZ013和BS2012ZZ009)

摘　　要：提出一种基于六维计算机输入设备的机器人实时运动仿真方法。六维计算机输入设备采用并联机构原理,将操作块通过六条支链和底座连接,通过探测各个支链上行程开关的开合分布情况,能够准确的判断操作块的三维平移运动和三维旋转运动。给出了将SolidWorks模型导入到Visual C++环境的步骤,以及采用六维计算机输入设备进行实时控制的具体方法。最后分析了一种串联机器人的运动学模型并基于此给出了实时控制的仿真实例。A real time robot motion simulation method was brought forth based on a kind of six-dimen- sional computer input device. By adopting parallel mechanism principle, the six dimensional computer input device was designed by connecting the manipulation block and the base with six identical sub- chains. Situations of the travel switches fixed on all might be used to judge the actual three dimensional steps about how to introduce the SolidWorks model the sub-chains could be detected and the information translational and rotational motions. It indicated all to Visual C ＋ ＋ circumstance. The real time motion control method by using six dimensional computer input device was also presented. At last kinematic model of a serial robot was constructed and the simulation example of its real time control was presented based on that.

关 键 词：六维计算机输入设备 并联机构 运动学 

分 类 号：TH165[机械工程—机械制造及自动化] TG65[金属学及工艺—金属切削加工及机床]