基于VBAI和MATLAB的三自由度并联机械手运动仿真  

The motion simulation of three-DOF parallel manipulator based on VBAI and MATLAB

作　　者：甄卓[1] 刘朝英[2] 宋雪玲[1] 宋哲英[1] 

机构地区：[1]河北科技大学,河北石家庄050000 [2]河北科技大学理工学院,河北石家庄050000

出　　处：《制造技术与机床》2015年第6期70-75,共6页Manufacturing Technology & Machine Tool

摘　　要：为了真实反映基于机器视觉的三自由度并联机械手抓放物体的情况,在对机械手的机械结构和运动轨迹进行建模的基础上,运用机器视觉技术对待抓取物体进行图像的采样和定位,并采用VBAI和MATLAB两款软件进行联合仿真的方法对机械手系统的目标获取、目标定位、机械结构、轨迹规划等部分进行建模和仿真,仿真结果表明所设计的机械手系统满足准确性和快速性的设计要求;机器视觉技术的引入对并联机械手的智能化和定位的精准化是有很大帮助的,进而证明该联合仿真方法是有效的。In order to truly reflect the object situation of catch and place of the three-DOF parallel manipulator based on machine vision,and on the basis of the modeling of the trajectory and mechanical structure,mainly focuses on the analysis on the manipulator system by using the co-simulation approach based on the MATLAB and VBAI software,with modeling and simulation of target acquisition,mechanical structure,and trajectory planning for manipulator system built. In addition to this,the application of machine vision technique has been proposed to sample and grasp the image of an object. The simulation results show that the manipulator system can meet to the requirements of the design accuracy and rapidity,which proves the effectiveness of the co-simulation method.

关 键 词：机器视觉 三自由度并联机械手 VBAI MATLAB 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]