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为优化荔枝采摘机械手设计,针对复杂环境下采摘机械手行为的复杂性和不确定性,采用VC++和EONSDK开发了采摘机械手行为仿真系统。分析给出了仿真系统体系结构,从采摘机械手建模和模型优化及层次结构装配、运动学模型建立、采摘环境构建、三维模型数据转换和人机交互等方面研究系统的实现过程。最后,在仿真平台上通过事件驱动与路由机制实现了虚拟环境下采摘机械手运动、采摘等行为仿真。
In order to optimize the design of litchi picking manipulator, in view of the complexity and uncertainty of the picking manipulator in complex environment, the simulation system of picking manipulator behavior was developed by VC ++ and EONSDK. The simulation system architecture is given. The realization process of the system is studied from the aspects of picking robot modeling and model optimization and hierarchical assembly, kinematics modeling, picking environment construction, 3D model data conversion and human-computer interaction. Finally, on the simulation platform, the event-driven and routing mechanism is used to simulate the behavior of picking robot’s movement and picking under the virtual environment.