基于C++Builder的三足并联机器人运动仿真

Kinematics Simulation of Tripods Based on C++Builder

建立了3-PRS型三足并联机器人模型,基于软件C++Builder,结合OpenGL,实现了机器人的全部运动仿真。仿真机器人采用参数化尺寸,用户可随意输入。正向运动学模型采用了一种基于空间几何法的快速计算法。文中还提供了一种方便简洁的用户界面,仿真速度可达到20帧/s,机器人可平滑运动。

This paper sets up the model of a 3-PRS Tripod. Based on the software C++Builder and OpenGL, realize Kinematics Simulation of Tripods. The size of Tripod is a series of parameters, and you may input them at will. Forward kinematics model is set up based on solid geometry by a rapid calculate method. This paper provides a convenient and laconic user interface. Simulate velocity is up to 20 flames per second, and the robot can move smoothly.