六轴工业机器人三维仿真系统

摘要

To simulate the motion of industrial robot vividly,an effective method was presented to implement three-dimensional simulation of robot based on VC++ and OpenGL.This method could import the three-dimensional model of the robot generated by SolidWorks.The robot kinematic model was established through the Denavit-Hartenberg method,and the three-dimensional simulation and virtual motion control of robot were realized by adding the functions of manual control and virtual teaching and playback.This method could be used to research motion control algorithm of robot and verify the rationality of the mechanical structure design.The establishment of three-dimensional simulation system was presented with the example of six axis industrial robot,and the effectiveness of the system was verified.%为逼真地模拟工业机器人的运动,提出一种基于VC++和OpenGL的实现机器人三维仿真的有效方法,能够导入SolidWorks等软件生成的机器人三维模型.通过Denavit-Hartenberg法建立机器人的运动学模型,加入手动控制和虚拟示教再现等功能,实现机器人的三维仿真和虚拟运动控制.该方法可用于机器人的运动控制算法研究和验证机械结构设计的合理性.以六轴工业机器人为例,介绍三维仿真系统的建立,验证了该系统的有效性.