基于OpenGL的球形五杆并联机器人运动学仿真

Kinematics Simulation of the Spherical Five-bar Parallel Robot Based on OpenGL

在VC++环境下利用OpenGL实现了球形五杆并联机器人的实时运动仿真。利用键盘响应函数对并联机器人的运动进行实时控制,并可从不同视角和方位对运动情况进行观察。为原型样机的设计奠定了基础。

The real-time kinematics simuktion for the spherical five-bar parallel robot is performed by using Ope-nGL in Visual C + + . The control for the parallel robot can be realized in real time by using response function of keyboard and the conditions of simuktion can be visualized in different views. This design lays the foundation for manufacturing the real prototype of the parallel robot.