按摩机械臂仿真试验台设计与实现

Design and Implementation of Simulation Test Benches for Massage Mechanical Arms

针对现有机械臂仿真试验台开放性和可视化程度不足等问题,本文基于QT架构与VTK工具自主设计了一款机械臂仿真试验台.试验台的机械臂基于D-H坐标系,利用VTK库进行了仿真.程序设计根据任务框图采用模块化方法,并通过MVS模型进行整体统筹调度,并以按摩机械臂为对象进行仿真和按摩实验.结果表明,按摩机械臂整体误差不超过7 mm,能根据任务需求二次开发,实现了交互界面和误差数据可视化,整体精度控制满足项目需求,该试验台具备快速开发、可迭代和可视化等优势.

Aiming at the problems such as the lack of openness and visualization degree of the existing mechanical arm simulation test benches,this paper independently designed a mechanical arm simulation test bench based on QT architecture and VTK tools.The robot arm of the test bench is simulated based on D-H coordinate system and VTK library.The program design adopts the modular method according to the task block diagram,and carries out the overall planning and scheduling through the MVS model,and conducts the simulation and massage experiment with the massage robot arm as the object.The results show that the overall error of the massage robot arm is not more than 7 mm,and it can be developed twice according to the task requirements,realizing the interactive interface and error data visualization,and the overall precision control meets the project requirements.The test bench has the advantages of rapid development,iteration and visualization.