摘要
为了检验冲压生产线设计方案的可靠性,文章采用对生产线进行三维可视化仿真的方法,对机器人生产线虚拟试运行系统所涉关键技术进行了研究。首先,在C++环境中调用OpenGL库文件绘制三维仿真模型,并向该模型导入优化后的机器人运动学算法,完成事件触发生产线中机器人及其外围机械设备的运动仿真;其次,通过程序驱动实现实体控制器与仿真环境的实时通信;最后,搭建虚拟生产线,完成机器人生产线虚拟试运行的仿真。
In order to test the feasibility of the blueprint about robot production line, the method of 3D simulation is used and the key technology of robot production line virtual operation system is re- searched. Firstly, 3D models in C＋＋ program are built with the use of OpenGL library, and the im- proved kinematics algorithm is integrated in the accomplished models, and the movement of the equip- ment in the simulation with events is triggered. Secondly, a real-time communication between the physical controller and the simulation is set up. Finally, the virtual robot assembly line is accom- plished and its feasibility is verified.
作者
汪伟
王容川
周文贤
于海武
WANG Wei WANG Rongchuan ZHOU Wenxianl YU Haiwu(School of Electric Engineering and Automation, Hefei University of Technology, Hefei 230009, China Hefei Institutes of Physical Science, Chinese Academy of Sciences, Changzhou 213164, China)
出处
《合肥工业大学学报（自然科学版）》
CAS
北大核心
2017年第3期340-344,378,共6页
Journal of Hefei University of Technology：Natural Science
基金
中国科学院青年创新促进会资助项目(2016387)
关键词
机器人生产线
虚拟试运行系统
机械建模
运动学算法
实时通信
robot production line
virtual operation system
mechanical modeling
kinematics algorithm
real-time communication
