基于Unity3D的档案抓取机械臂仿真系统设计与实现  

Design and Implementation of Simulation System for Archive Grasping Robot Arm Based on Unity3D

作　　者：王鑫[1] 张捷[1] 吕明[1] 

机构地区：[1]南京理工大学自动化学院,江苏南京210094

出　　处：《工业控制计算机》2024年第8期83-85,共3页Industrial Control Computer

摘　　要：随着工业领域对无人化和自动化的需求增加,多自由度机械臂在工业领域应用越来越广泛。基于Unity3D设计了一个六轴机械臂仿真系统应用于实体档案管理领域,该系统允许用户通过软件界面对虚拟机械臂进行运动控制,并实现机械臂以及末端夹具和工作环境之间的碰撞检测,确保系统安全执行任务。系统采用UGUI实现交互界面,使用Unity矩阵、向量接口实现正逆运动学算法,并使用Articulation动力学组件实现运动控制。针对碰撞问题,采用BoxCollider组件及OBB相交检测算法。给出了基于Unity3D的仿真界面图,并通过实例验证该系统能够安全平稳地执行任务。With the increasing demand for unmanned and automated systems in the industrial field,multi degree of freedom robotic arms are increasingly widely used in the industrial field.This paper designs a six axis robotic arm simulation system based on Unity3D and applies it to the field of entity file management.The system allows users to control the motion of the virtual robotic arm through a software interface,and achieve collision detection between the robotic arm,end fixture,and working environment,ensuring the safe execution of tasks by the system.The system adopts UGUI for interactive interface,uses Unity matrix and vector interface for forward and inverse kinematics algorithms,and uses Articulation dynamics components for motion control.To address collision issues,the BoxCollider component and OBB intersection detection algorithm are adopted.This paper provides a simulation interface diagram based on Unity3D,and verifies through simulation of accessing file boxes that the system can safely and smoothly execute tasks.

关 键 词：UNITY3D 机械臂 仿真系统软件 碰撞检测 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]