摘要
针对一种由并联机构Tripod构成的用于飞机部件装配的定位系统,首先在Qt环境下结合OpenGL通过导入模型数据以及各部件之间的几何关系建立其仿真模型。然后利用运动学逆解以及四元数球面线性插补算法,对飞机部件的位姿调整进行分析研究,并进行验证。得到飞机部件位姿调整的动态过程和预期仿真结果。
According to a kind of aircraft component positioning system which is composed of several parallel manipulators named Tripod, a kinematic simulation model based on OpenGL is built under the Qt software environment. Inverse kinematics and quatemions spherical linear interpolation are used to analyze the pose adjustment of aircraft component. And verification is also accomplished. Eventually, the dynamic process of thepose adjustment and an expected simulation result are produced.
出处
《电子设计工程》
2014年第8期45-47,51,共4页
Electronic Design Engineering
关键词
定位系统
运动学逆解
四元数球面线性插补
Tripod
positioning system
Qt
OpenGL
inverse kinematics
quaternions spherical linear interpolation
