通用型多功能6自由度串联机械臂运动学综合仿真平台的设计与开发  

Design and Development of General Multi-functional 6-DOF Series Manipulator Kinematics Comprehensive Simulation Platform

作　　者：李剑[1] 刘贤松 张英 魏世民[1] 廖启征[1] LI Jian;LIU Xiansong;ZHANG Ying;WEI Shimin;LIAO Qizheng(School of Intelligent Engineering and Automation,Beijing University of Posts and Telecommunications,Beijing 100876)

机构地区：[1]北京邮电大学智能工程与自动化学院,北京100876

出　　处：《机械工程学报》2024年第23期102-113,共12页Journal of Mechanical Engineering

基　　金：国家自然科学基金青年项目(52005120);国家重点研发计划课题(2022YFB4703305);北京邮电大学“双一流”建设学科交叉团队项目(2023SYLTD04)资助项目。

摘　　要：面向6自由度串联机械臂运动学仿真分析的通用需求,开发基于开放图形库(Open graphics library,OpenGL)的综合数字化仿真平台(Mani KASim)。首先,利用WolframScript将运动学分析的算法理论进行模块化设计,实现机械臂运动学分析算法的修改或者替换。其次,基于Open GL,完成机械臂模型的加载及仿真。同时,利用Qt及其信号与槽机制,设计平台界面及完成平台各模块间的互相通信。最后,以UR10机械臂为例,对平台的运动学功能模块进行实例演示和验证。结果表明,设计和开发的综合数字化仿真平台(Mani KASim)整合了D-H矩阵、对偶四元数、倍矩阵、倍四元数4种常用正逆运动学分析的数学建模和代数求解方法,可用于三轴相交型、三轴平行型、一般6R、1P5R或2P4R等所有构型6自由度机械臂的运动学分析。同时,ManiKASim可以随时更改或者替换机械臂的正运动学、逆运动学、奇异分析、可达工作空间、灵活工作空间和姿态空间等模块的算法,提供了机械臂3D模型控制及运动学功能模块的可视化和表格表示,具有任意视野虚拟操控、全方位观察等功能。开发的Mani KASim仿真平台,可以满足6自由度串联机械臂运动学仿真分析的系统需求,提高分析研究的效率,为6自由度机械臂的设计与应用分析提供帮助。A comprehensive digital simulation platform(ManiKASim)based on open graphics library(OpenGL)was developed to meet the systematic requirements of kinematic simulation analysis of 6-DOF serial manipulators.First of all,WolframScript is used to modularize the algorithm theory of the kinematic analysis,so as to modify or replace the kinematic analysis algorithm of manipulators.Secondly,based on open graphics library(OpenGL),the manipulator model is loaded and simulated.At the same time,Qt and its signal and slot mechanism are used to design the platform interface and complete the communication between the modules of the platform.Finally,taking the UR10 manipulator as an example,the kinematic function modules of the platform are demonstrated and verified.The results show that the comprehensive digital simulation platform(ManiKASim)integrates the mathematical modeling and algebraic solution methods of D-H matrix,dual quaternion,double matrix and double quaternion,four of which are commonly used for forward and inverse kinematics analysis,could be used for kinematic analysis of all configurations of 6-DOF manipulators,such as three-axis intersecting,three-axis parallel,general 6R,1P5R or 2P4R manipulators.Moreover,ManiKASim can change or replace the algorithms of the forward kinematics,inverse kinematics,singularity analysis,reachable workspace,flexible workspace and attitude space modules of manipulators at any time,provide the visualization and tabular representation of the 3D model control of manipulators and the kinematic function modules,with virtual control of any field of view,all-round observation and other functions.ManiKASim can meet the system requirements of 6-DOF serial manipulator kinematic simulation analysis,improve the efficiency of kinematic analysis,and provide help for the design and application analysis of 6-DOF manipulators.

关 键 词：6自由度机械臂 运动学分析 Open GL WolframScript 综合数字化仿真平台 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]