基于OpenGL的六自由度机械臂三维建模与仿真  

Three-Dimensional Simulation of 6-DOF Manipulator Based on OpenGL

作　　者：张华文[1] 梁艳阳[1] 赖永林 

机构地区：[1]西南科技大学信息工程学院,四川绵阳621010

出　　处：《自动化技术与应用》2014年第3期21-24,33,共5页Techniques of Automation and Applications

基　　金：四川省教育厅青年基金(10zd1135)

摘　　要：针对六自由度机器臂,为了解决运动学分析结果不易验证以及在实体机械臂上演示成本较高的问题,设计了一套六自由度机械臂三维仿真软件。该软件以VS2008为开发平台,基于OpenGL函数库和Qt框架类,采用模块化的方法进行三维模型的创建,具有灵活性大、易于扩展的优点。结果表明,该仿真软件能够良好地仿真出机械臂的运动过程,对机械臂的研究和教学起到了促进作用。For a 6-ODF manipulator, in order to solve the problem that the result of kinematics analysis is difficult to verify and the cost of the demonstration is high on the machine entity, a 3D simulation software is developed based on OpenGL and Qt on VS2008 IDE. A modularized method of 3D modeling for a 6-DOF manipulator is presented it has the advantage of flexibility and expandability. The result shows that this software can simulate well the movement of manipulator, it plays an important role in the research and teaching for manipulator.

关 键 词：OPENGL 机械臂 运动学模型 三维仿真 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]