| 基于OpenGL的三自由度并联机器人三维运动仿真系统 |
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| 引用本文： | 周正,吴昌林,陶卫军,余江.基于OpenGL的三自由度并联机器人三维运动仿真系统[J].机床与液压,2004(1):63-64,74. |
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| 作者姓名： | 周正 吴昌林 陶卫军 余江 |
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| 作者单位： | 华中科技大学机械学院,湖北,武汉,430074 |
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| 摘 要： | 机器人三维仿真在机器人的研究开发中具有重要作用，是当前机器人研究领域中最新的研究方向之一。本系统利用Visual C 调用OpenGL图形函数对三自由度并联机器人及其工作环境进行建模和渲染。根据正解的结果显示其三维工作空间；并根据给定参考点轨迹及逆解的结果实时、动态的显示三自由度并联机器人的工作过程。
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| 关 键 词： | 三自由度 并联机器人 三维运动仿真系统 工作过程 工作空间 OpenGL |
Simulation System of 3D Motion of 3-DOF parallel Robot with OpenGL |
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| ZHOU Zheng,WU Chang-lin,TAO Wei-jun,YU Jiang.Simulation System of 3D Motion of 3-DOF parallel Robot with OpenGL[J].Machine Tool & Hydraulics,2004(1):63-64,74. |
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| Authors: | ZHOU Zheng WU Chang-lin TAO Wei-jun YU Jiang |
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| Abstract: | The 3D motion simulation of robots has an important use in the research and development of robots, also is one of the newest research directions. This system models the 3-DOF parallel robot and its work environment with Visual C++ calling the functions in OpenGL. According to the results of forward displacement analysis, its working space can be really displayed, and according to the trace of the referring point and the results of inverse displacement analysis, its working process can be simulated real-time and dynamically. |
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| Keywords: | Robot 3-Degree of freedom Parallel Simulation |
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