【作者】 郭姣；

【导师】 李文斌； 邢镇容；

【作者基本信息】 太原理工大学 ， 机械制造及自动化， 2002， 硕士

【摘要】 本文论述了在微机上开发的一个机器人的参数化造型及图形仿真系统。机器人的参数化、仿真的实时性、程序的易开发性是该系统的主要特点。 该系统采用实体造型，能在微机上显示较高质量的机器人的三维图形，可以按照用户给出的尺寸修改模型，在交互方式下，实现机器人的参数化造型；系统能够在关节空间和笛卡尔空间中进行运动学的图形仿真，能进行点到点直线插补轨迹的动画显示，机器人的动作可以示教再现，也可以由程序设定。 本文围绕机器人仿真系统的设计与实现等问题进行了讨论。包括机器人的参数输入、实体造型、图形示教、数据写入以及轨迹规划等模块的设计。 系统选用AutoCAD二次开发工具之一——VBA语言进行编程，应用了ActiveX技术，提出了在开发机器人仿真系统中，将MATLAB语言的矩阵运算功能与AutoCAD的图形功能相互结合来补充其不足的新方法，并利用实例进行了验证。更多还原

【Abstract】 In this paper, the parametric modeling and simulation system of robots realized by us on PC is described. Parameterization of robots, real time of simulation, and easy development of programs are the main characteristics of the system.The system can display in 3D the robots with higher quality graphics on PC by adopting the solid model technology, and modify the model of robots according to the size given by users, so that the parametric modeling is realized under interactive mode. It realizes the graphics simulation of robots in kinematics in both articulatory space and Cartesian space, and it also realizes the animated simulation of trajectory of linear interpolation in point-to-point mode. The movement of robots can be realized by graphics teaching or programming.The paper has discussed such questions as the design and achievement of the simulation system of robots, which include the design of all modules such as parameter input, solid modeling, graphics teaching, data record, trajectory planning and so on.The system uses VBA (Visual Basic for Application) language, one of secondary development tools for AutoCAD, to program. It applies the ActiveX technology, puts forward that in the development of simulation system of robots, the matrix operation function of MATLAB language and strong graphics function of AutoCAD can be combined to make up for each other’s short points, and the new method is demonstrated by a practical example.更多还原