基于Unity3D的草坪毯修补机器人半物理仿真系统

Semi-physical simulation system of the robots for lawn carpet repair based on Unity3D

机电一体化纺织机械的研发普遍存在现场调试工作量大、周期长及成本高等问题,针对目前主流仿真软件存在的三维展示效果差,或实时性不足,或无法连接机械电子软件进行综合仿真等缺点,研究设计了一套半物理仿真系统。基于Unity3D虚拟现实引擎搭建了仿真平台,以仿真电路板为载体,实现了虚拟机械与控制系统间数据的实时交互;以草坪毯自动修补机器人为仿真对象,证明该半物理仿真系统具有较好的实时性及三维展示效果;通过输出修补机器人关键结构的运动时序图、空间轨迹图,验证了修补机器人机电系统的工艺仿真可行性,可替代部分现场调试工作,减少工作量、缩短研发周期、节约成本,提高设备的研发效率。

The research and development of electromechanical integrated textile machinery generally has the problems of heavy field debugging workload,long cycle and high cost.Aiming at the shortcomings of the current mainstream simulation software,such as poor 3D display effect,insufficient real-time performance,or inability to connect mechanical and electronic software for comprehensive simulation,a set of semi-physical simulation system is designed.The simulation platform is built based on Unity3D virtual reality engine,and the simulation circuit board is used as the carrier to realize the real-time data interaction between the virtual machine and the control system.The lawn carpet automatic repair robot is taken as the simulation object,to prove that the semi-physical system has good real-time performance and 3D display effect.By outputting the motion sequence diagram and space trajectory diagram of the key structure of the repair robot,the process simulation feasibility of the mechanical and electrical system of the repair robot is verified,which can replace part of the field debugging,reduce the workload,shorten the development cycle,save costs,and improve the research and development efficiency of the equipment.