基于几何造型的机器人动态仿真系统

A Robot Dynamic Simulation System Based On The Solid Modelling System

本文利用计算机辅助设计技术,在建立起一个几何造型系统的基础上,对多目的用途机器人及其动态仿真进行了一些研究.系统具有较强的几何造型功能,图形编辑功能,仿真功能和文件管理功能.在动态仿真的同时还可进行机器人末端执行器的轨迹规划,机器人与工作环境及多台机器人配合工作时的干涉性检查,自动绕开障碍物等.在产生动态图形时,采用了制作“幻灯片”的方法,设计了汇编语言程序,保证了具有极好的动态效果.

The article deals with the multipurpose robot and its dynamic simulation through the computer-aided design technique based on setting up a solid mo-delling system. The whole system has a powerful function for solid modelling, graphics editting, simulating and document managing. The dynamic simulation is carried out while the trace programming on the end-effector of a robot is fulfilled and the interference check between a robot and its working environment as well as multi-robot working together is done. It can avoid obstacles at the same time. When the moving graphics are gener-ated , the 'slide show' method is adopted, and the assembly language program is designed so as to ensure the best moving effects.