空间机械臂模拟系统的设计与实现

Design and realization of simulating system for a spatial manipulator

针对某科技馆的一个科普展品,设计了一种空间机械臂模拟系统。首先对空间机械臂各部分的结构和传动机构进行了设计,利用D-H坐标法建立了机械臂的运动学模型,并进行了其运动学正、反解的求解。然后,构建了空间机械臂的伺服控制系统,开发了上位工控机和底层运动控制器的控制软件。最后,使用Quest3D虚拟现实软件制作了VR机械臂。机械臂模拟系统的工作情况表明,该系统可以满足科普展品的要求。

Aiming at a science exhibit, a simulating system of a spatial manipulator were designed. At first, mechanical structures and transmissions of the manipulator were designed, the kinematics model was established on the basis of D-H coordinates approach ,the solutions were found on direct and inverse kinematics. Then the control system of the manipulator was constructed, and the control software of upper control computer and bottom motion controller were developed. At last, a VR manipulator was built under the Quest3D virtual reality software. The normal work of the simulating system shows that the manipulator system can meet the needs of science exhibits.