飞机表面清洗机器人运动学建模和三维仿真研究

Research on the Kinematics of Modeling and Simulating of Aircraft's Surface Cleaning Robot

利用DH方法建立了飞机表面清洗机器人工作装置的运动学模型,以VisualC++为设计语言,利用OpenGL对机器人自动轨迹规划进行了的三维仿真。实现了机器人对线、面区域的自动规划的目标,并可以通过手控和自动控制实现对机器人进行控制。

Based on DenavitHartenberg method, a kinematics model,which emulates the working equipment of aircraft's surface cleaning robot,was built.corresponding 3D automatic the planning of the motion path simulation was finished through OpenGL graphic API and Visual C++, and realized automatic the target planning of the motion path of robot in line and area,and the robot can be controlled automatically or by hand.