基于DirectX的六维控制器虚拟仿真  

DirectX-based virtual simulation of six-dimensional controller

作　　者：张彦斐[1] 陈超 宫金良[1] ZHANG Yanfei;CHEN Chao;GONG Jinliang(School of Mechanical Engineering, Shandong University of Technology, Zibo 255049, China)

机构地区：[1]山东理工大学机械工程学院

出　　处：《山东理工大学学报（自然科学版）》2019年第6期6-10,16,共6页Journal of Shandong University of Technology:Natural Science Edition

基　　金：国家自然科学基金项目(61303006);山东省优秀中青年科学家科研奖励基金项目(BS2012ZZ009);淄博市校城融合项目(2017ZBXC151)

摘　　要：提出一种基于宏动3-URS并联机构的六维控制器,在阐明工作原理的基础上,对其空间位姿进行了运动学分析。利用MATLAB进行仿真分析并将结果与标定值进行比较,有效验证了运动学正解的可靠性和设计方案的可行性,为后续的参数优化及控制系统设计提供了必要的理论依据。给出了利用DirectX技术并引入四元数来表示坐标系的旋转变换,根据实时采集到的各关节变量,实现3-URS并联机构在虚拟三维场景中的关联运动,并进行了模拟仿真分析,为今后的深入研究奠定了基础。A kind of six-dimensional controller was presented based on the macro 3-URS parallel mecha nism. The according kinematics was analyzed to solve its spatial position and orientation problem after il lustrating the working principle. The MATLAB simulation analysis was carried out and simulation results were compared with the calibration values, which proved the reliability of forward kinematic solutions and the validity of this design scheme. The results provided the necessary theoretical foundation for optimizing design of the structural parameters and control system. Rotation transformation of the coordinate was ex pressed by utilizing DirectX technology and adopting quaternion conception. All the joint variables were detected in real-time, which made it possible for the 3-URS parallel mechanism to fulfill the certain mo tion in 3D virtual scene. This study lays the solid foundation for further research.

关 键 词：并联机构 六维控制器 虚拟仿真 DIRECTX 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]