基于Unity3D的搬运机械手仿真

A transfer mechanical arm simulation based Unity3d

以某型搬运机械手为仿真原型。对其机械结构、运动模型进行了分析,创建其三维零件模型,在Unity3D中完成零件模型的组装,利用物理引擎实现碰撞与摩擦的仿真,使用脚本仿真电机与气动的驱动方式。在Unity3D引擎中实现了对搬运机械手这一较复杂机械的仿真。其仿真效果与实际设备有着较高的一致性。相比于传统解决方案,本搬运机械手的仿真方法在实现的方便性,仿真的交互性方面有了不同程度的改进与提高。

Taked a transfer mechanical arm for the simulation prototype, analyzed its mechanical structure and motion model. Created a 3D part models, and the part models were assembled in Unity3D. Used physics engine to achieve the simulation of the collision and friction, used script to simulate electromotor and pneumatic’s drive effect. Achieved a simulation of the transfer mechanical arm which is a complex mechanical in Unity3D engine.Its simulation results with the actual device has a higher consistency. compare with the traditional solutions, the simulation method of the mechanical arm had improved on the convenience and interactivity.