基于Java3D和VRML技术的采摘机械手运动仿真研究

摘要

In order to realize the picking and the interaction of the robot arm motion virtual simulation process, it proposed a mechanical arm interactive 3D scene generation and motion simulation system based on Java3D and VRML virtual reality technology.In order to validate the system feasibility,taking picking robot manipulator as the research object, based on the picking robot manipulator motion simulation system, based on the characteristics of the network, through the interface to import mechanical arm joint shape file, it realized the picking robot manipulator simulation 3D virtual scene creating.Experiments were conducted on the system simulation.And the results of the experiment show that the development of harvesting robot manipulator 3D motion simulation system can the picking path planning reasonable, experiment and consistent trajectory can real-time display torque change of key and provide reference data for joint structure optimization.It is found that the maximum position deviation is not more than 1mm, and the reliability of the motion model and algorithm is verified by comparing the simulation target position and the preset position.%为了实现采摘机器人机械手臂运动虚拟仿真过程的交互性,基于Java3D和VRML虚拟现实技术,提出了一种机械臂交互式三维场景生成及运动仿真系统.为了验证系统的可行性,以采摘机器人机械臂为研究对象,设计了基于采摘机器人机械臂运动仿真系统,并基于网络的特征,通过接口导入机械臂关节的造型文件,实现了采摘机器人机械臂仿真三维虚拟场景创建.对仿真系统进行了实验,结果表明:开发的采摘机器人机械臂三维运动仿真系统可以对采摘路径进行合理的规划,得到和实验基本吻合的轨迹,能够实时地显示关键力矩的变化,为关节结构的优化提供了数据参考.将仿真目标位置和预设位置进行对比发现,最大位置偏差不超过1mm,从而验证了运动模型和算法的可靠性.