【摘要】 采用三维建模软件Pro/E建立空间机械臂几何模型,采用三维图形软件开发包Open In-ventor虚拟场景技术搭建仿真环境,采用数据库来存储与管理仿真过程中用到的数据信息,通过循环遍历数据库中的数据表信息,实时计算和修改模型绝对位姿,实现运动仿真,利用Visual C++6.0编程软件建立了空间机械臂运动仿真平台。实验结果表明,上述方法不仅能达到很好的仿真效果,而且能适应变化的模型、变化的任务,因而具有良好的实用性,较强的通用性。更多还原

【Abstract】 This paper presents a method of kinematic simulation of 7 DOF space manipulator,In this method,three dimensional modeling software Pro/E is used to build geometric model,virtual scene technology of Open Inventor is used to build simulation environment,database is employed to store data information used in the process of simulation,Looping through data information of the database to calculate and revise the absolute position and orientation of the model and eventually realize kinematic simulation.Visual C++6.0 programming software is selected to build kinematic simulation platform of 7 DOF space manipulator.Experimental results show that this method can not only get a good simulation result but also be well adapted to variable motion scenes and tasks,so this method has a good practicality and strong versatility.更多还原