基于SimMechanics与Virtual Reality的双臂仿真机器人平台创建

Simulation platform of dual-arm robot based on SimMechanics and Virtual Reality

介绍了一种双臂仿真机器人平台的创建方法,使得双臂机器人研究人员在没有硬件支持的情况下,可以顺利开展自己的研究,如运动学和动力学分析。此方法基于Matlab下Simulink中的机械仿真模块(SimMechanics)搭建而成,并运用虚拟现实技术进行3D模拟,使得结果更加的直观化。平台具有简单、易操作,可充分满足研究人员需要的特点。

This paper describes a method to create dual-arm robot simulation platform,which allows the researchers of dual-arm robot to study well with the absence of hardware support,including the kinematics and dynamics analysis.This method based on the mechanical simulink structures（SimMechanics） of the simulink of Matlab,and using 3D virtual reality simulation technology,which making the results more intuition.This platform has the charcateristcs of simple,easy to operate,and can fully meet the needs of researchers.