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针对六自由度大载荷并联机器人的工作监控问题,以Open Inventor为开发平台,对并联机器人虚拟同步运动进行了研究。首先,用Pro/E进行了零部件建模,并导入Open Inventor开发环境,用VRML虚拟现实语言描述了各零部件的连接关系,搭建了虚拟机器人;然后,构建了由立体视觉和位置正解算法组成的复合检测系统,用以实时检测实体并联机器人的位姿;最后,将位姿信息传送至虚拟机器人,由Open Inventor借助其场景渲染能力,利用内置的引擎工具完成了虚拟机器人的同步运动。试验研究结果表明,该机器人虚拟运动逼真流畅,位姿检测精度能控制在0.05 mm内,位姿检测与计算带来的虚拟运动延迟能够控制在0.5 s内;系统不仅能够满足并联机器人一般监控的需要,还提供了一种可供参考的精确位姿检测方式。
In view of the job monitoring problem of a six-DOF high-load parallel robot, the virtual synchronized motion of the parallel robot is studied with Open Inventor as the development platform. Firstly, the part modeling is done with Pro / E and imported into the Open Inventor development environment. The VRML virtual reality language is used to describe the connection between the components and the virtual robot is constructed. Then, a three- Which is used to detect the pose of the parallel robot in real time. Finally, the pose information is transmitted to the virtual robot. Open Inventor uses the scene rendering capabilities of the built-in engine tool to complete the synchronized movement of the virtual robot. Experimental results show that the virtual motion of the robot is fluent and the accuracy of pose detection can be controlled within 0.05 mm, and the virtual motion delay caused by pose detection and calculation can be controlled within 0.5 s. The system can not only meet the requirements of general monitoring of parallel manipulators Needed, but also provides a reference for the accurate pose detection method.