面向球形机器人的虚拟装配与运动仿真研究-机械设计及理论专业毕业论文.docxVIP

捅要 捅要 北京l¨电大学硕士学位论义2004 面向球形机器人的虚拟装配与运动仿真研究 摘要 球形机器人作为一种崭新的机器人，它的结构简单，控制容易，却 可以实现全方位的行走运动。本论文首先分析了球形机器人的结构及其 运动原理，而后结合虚拟现实技术对本实验室的球形机器人进行了虚拟 装配建模与运动仿真的研究。 虚拟装配建模之前，首先对国内流行的建模软件进行了分析选择， 而后对uG软件的强大功能与卓越的性能特点等给予了详细的描述。其后 利用uG软件对球形机器人的所有零部件进行建模，并进行了数字化虚拟 装配。在虚拟装配的过程中，研究了虚拟装配的碰撞干涉检验算法、进 行了虚拟装配顺序规划并实现了虚拟装配的动画演示。 本文在0penGL系统中建立了球形机器人的零部件及其整体模型， 并进行了球形机器人运动场景的设置。在0penGL系统里，不仅实现了球 形机器人分别在长、短轴两个特殊方向的运动仿真，而且实现了球形机 器人在任意给定方向上以不同速度滚动的运动仿真。 关键词：球形机器人虚拟装配OpenGL运动仿真UG建模 STUDY STUDY ON VIRTUAL ASSEMBLY AND KINEM已气TIC EN【L几ATION FOR SPHEIUCAL ROBOT Abstract As a new l(ind of robot．the spherical robot has many excellent characters It cart be controlled easily witll the sample structure．and it carl move in all—directions．The structure of the spherical robot and its kinematics theory are firstly analyzed in this thesis，then the research is made bY virtual reality technology,which is on the virtual assembly modeling and kinematics emulating on the spherical robot designed by our laboratory． Before the modeling of virtual assembly,the paper firstly makes an analysis on the modeling software，which is popular in the country and then selects one as the selection．Then，the paper indicates detailedty the strong function and the super performance and the like．The thesis makes use of UG software tO model all parts of the spherical robot，and makes a digital virtual assembly．On virtual assembling，the collision detection is made，and the assembly process is designed．Then the activity virtual assembly is achieved． The model of the parts of the spherical robot is made by the OpenGL system，and the move scene of the spherical robot is set up．In the system of OpenGL，the spherical robot Can not only move in two special direction including long shaft and short shaR，but move in any designed direction at different velocity． KEY WORDS：spherical robot，virtual assembly,OpenGL，kinematics emulation，UG modeling 声蚶 声蚶