基于OpenGL与六维控制器的并联机器人动态仿真

Dynamic Simulation of Parallel Robot Based on OpenGL and Six-Dimensional Controller

为了实现对计算机中虚拟并联机器人模型进行实时控制和动态仿真分析,介绍了基于微动结构设计的微动六维控制器和OpenGL这一开放式的三维图形标准,给出了建立OpenGL在Visual C++6.0中绘图环境的方法,以及六维控制器和计算机实现串口通信的具体方法。最后以3R&2P并联机器人为例,以机器人运动学反解为基础,依次建立关键部件三维模型并实现了关联运动,运行结果表明OpenGL技术非常适合于机器人的三维运动仿真,同时结合六维控制器能够实现实时的动态仿真分析。

In order to realize real time control and dynamic simulation analysis of parallel robot virtual 3D model in computer,a kind of six-dimensional controller based on micro-motion structure was introduced.The technology of OpenGL was also presented as standards of 3D graphic.It brought forth the establishment method of mapping circumstance in Visual C++6.0 for OpenGL and explained how to carry out the communication between six-dimensional controller and computer through serial port.At last,taking the 3R&2P parallel robot as example and based on the robot inverse kinematic equations,all 3D models of the main parts were built up and their relative motions were also realized.It is proved that OpenGL technology is fit for the robot 3D motion simulation and dynamic simulation analysis can be implemented using this six-dimensional controller.