基于Unity3D的焊接机器人虚拟现实仿真技术研究

Study on Virtual Reality Simulation Technology of Welding Robot Based on the Unity 3D

以一个6自由度关节型焊接机器人为对象,对其进行了虚拟现实仿真技术的研究,提出了一种基于Unity 3D引擎、使用C#语言开发的虚拟现实仿真系统的设计。研究内容包括:三维建模和优化处理、模型及场景的实时加载、人机交互界面的设计、运动仿真、虚拟机器人与实际机器人的运动同步和位姿同步、简单临场感的实现、碰撞检测功能。通过对焊接机器人虚拟现实技术的研究,可以有效降低焊接过程中操作人员的作业风险,对焊接机器人工作过程中的远程监控具有较大的研究意义。

This paper presents a virtual reality simulation system based on Unity 3D engine and C#Language,which is studied in a six DOF(degree of freedom)joint welding robot.The research contents of this paper included the three-dimensional modeling and optimization,Real-time loading of models and scenes,the human-computer interface design,motion simulation,the motion and position synchronization of the virtual robot and the real robot,the simple sense of immediacy and collision detection.Through the research on the virtual reality technology of welding robot,it can effectively reduce the operating risk of the operator in the welding process.There is great research significance for the remote monitor and control in the process of welding robot work.