虚拟环境下采摘机械手行为仿真

Behavior simulation of picking manipulator under virtual environment

为优化荔枝采摘机械手设计,针对复杂环境下采摘机械手行为的复杂性和不确定性,采用VC++和EONSDK开发了采摘机械手行为仿真系统。分析给出了仿真系统体系结构,从采摘机械手建模和模型优化及层次结构装配、运动学模型建立、采摘环境构建、三维模型数据转换和人机交互等方面研究系统的实现过程。最后,在仿真平台上通过事件驱动与路由机制实现了虚拟环境下采摘机械手运动、采摘等行为仿真。

To optimize the design of litchi picking manipulator,for the complexity and uncertainty of the picking manipulator behaviors under complex environment,a picking manipulator behavior simulation system has been developed by using VC＋＋and EON SDK.The architecture of simulation system was given out through analyzing.More,the implementation process of the system was researched from several aspects as the picking manipulator＇s modeling and model optimization,model assembly of hierarchical structure,kinematics modeling,the build of picking environment,data conversion of 3D model,human-computer interaction and so on.Finally,behavior simulation such as Picking Manipulator＇s movement and picking in the virtual environment has been realized through event-driven mechanism in the simulation platform.