摘要
为了提高虚拟环境真实性及降低开发难度,针对工程机器人的结构和运动特点,采用Opengl函数建模和SolidWorks建模的混合建模方法以及Denavit-Hartenberg(D-H)表示法对虚拟工程机器人进行了几何建模和运动学建模。实验结果表明:虚拟仿真系统仿真效果良好,所采用的建模方法不仅满足了虚拟工程机器人建模逼真的要求,且缩短了开发周期,对具有类似结构的机器人建模有参考作用。
To improve the realness of the virtual environment and reduce developing difficulty, ac- cording to the structural and kinematic characteristics of construction robot, the hybrid modeling method of combining Opengl function modeling with Solidworks software modeling along with the Denavit-Hartenberg ( D-H )method are investigated and applied to the geometric modeling and the kinematics modeling of the virtual construction robot.The experimental results demonstrate that the virtual simulation system has good simulation results.The modeling method investigated not only meets the realistic requirement of virtual con- struction robot modeling,but shortens the development cycle,and also has some reference to the robot modeling with similar structure.
出处
《机械设计与制造》
北大核心
2012年第12期157-159,共3页
Machinery Design & Manufacture
基金
广东省"211工程"重点学科建设项目