基于CATIA的教师型助教机器人设计与仿真实现  

Design and simulation implementation of teacher type teaching assistant robot based on CATIA

作　　者：安毅 张奥林 宋少忠 AN Yi;Zhang Ao-lin;SONG Shao-zhong(School of Electrical and Information Engineering,Changchun Institute of Technology,Changchun 130012,China;School of Mathematics and Artificial Intelligence,Jilin Normal University of Engineering and Technology,Changchun,130052,China)

机构地区：[1]长春工程学院电气与信息工程学院,吉林长春130012 [2]吉林工程技术师范学院数学与人工智能学院,吉林长春130052

出　　处：《白城师范学院学报》2024年第5期79-85,103,共8页Journal of Baicheng Normal University

基　　金：吉林省职业教育科研课题“职普通融培养自动化类应用型人才的地方实践性研究”(2023XHY262);吉林省高等教育教学改革研究课题“创新创业教育融入人才培养全过程的路径研究”(2024L5LY26U0058);吉林省科技发展计划项目“教师助理智慧服务机器人关键技术研究与开发”(20220203178SF)。

摘　　要：针对复杂人机交互高耦合的教学环境,应用CATIA软件设计了教师型助教机器人系统.首先,建立并分析了机器人系统的运动学模型;其次,考虑机器人的移动能力、避障功能以及在人机交互过程中安全性问题,设计了机器人的系统底盘整体结构;最后,通过CATIA软件构建了教师型助教机器人系统的三维结构图.通过设定已知初始指令对两驱、三驱底盘结构进行了仿真对比实验,验证了三驱底盘结构运动控制过程中具有稳定性高、响应速度快及安全性高的特点,能更好地辅助教学环境构建.For complex human-machine interaction and high-coupled teaching environment,the teacher type teaching assistant robot system is designed based on CATIA software.First of all,the sports model of the robot system was established and analyzed;Secondly,considering the robotʼs mobile ability,obstacle avoidance function,and security issues during the human-computer interaction process,the overall structure of the system chassis of the robot was designed.Finally,the three-dimensional structure diagram of the teacher type teaching assistant robot system was constructed through CATIA software.By setting the simulation and comparison experiments of the two-drive and three-drive chassis structure,it was set to verify the characteristics of the high stability,fast response and high safety of the three-drive chassis structure movement control process,that can better assist the construction of the teaching environment.

关 键 词：机器人系统 人机交互 运动仿真 三维模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]