基于OpenGL的DELTA并联机器人实时动态仿真

该文以DELTA并联机器人三维实时动态仿真系统为背景，介绍了OpenGL图形库的功能和特点以及OpenGL与Windows图形接口的设置方法；在建立了DELTA机器人数学模型的基础上，重点分析了DELTA机器人的运动学，并给出了DELTA机器人运动学逆问题的详细数值解法；阐述了利用OpenGL和VC 6．0联合编程以实现并联机器人动态仿真的方法，并给出了详细的设计步骤和开发的软件界面；最后讨论了OpenGL在机器人仿真中的应用前景。用OpenGL图形库进行机器人仿真真实感强，因而具有较高的使用价值和良好的应用前景。

Real-time Animated Simulation for DELTA Parallel Robot Based on OpenGL

In this paper, the function and character istic of OpenGL graphics class and a method for setting up the OpenGL and windows' graphic interface based on the 3D real-time animated simulation system of DELTA parallel robot are presented. The kinematics of DELTA parallel robot is analyzed and the detailed algebra solution on the adverse kinematics of DELTA robot is given based on the math model of DELTA robot. The method of carrying out animated simulation of DELTA robot using OpenGL and VC++6.0 to program is expatiated. The detailed design process and the software interface are developed. The future application of OpenGL in robotic simulation is discussed. It has a strong third dimension of simulation with OpenGL graphics class,therefore has preferable value on use and good foreground on application.