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Visual Simulation of 6-DOF Parallel Robot System Based on Virtual Reality Environment

Author: WangYan
Tutor: WangZhanLin
School: Beijing University of Aeronautics and Astronautics
Course: Mechanical and Electronic Engineering
Keywords: Visual Simulation Virtual Reality Parallel manipulator solution
CLC: TP391.9
Type: Master's thesis
Year: 2005
Downloads: 39
Quote: 0
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Abstract


The paper has developed a set of visual simulation system based on virtual reality environment for research and analysis of the actual design and real-time movement of the six degrees of freedom of the platform in a virtual reality environment , showing the development of the practical use of the system in the study To achieve accuracy and the calculated amount of balance in the process . The papers using OpenGL, Visual C 6.0 MFC platform 6 DOF parallel robot 3D model , in this process fully consider the optimization of the model , in order to guarantee the real-time nature of the software overall . In addition , taking into account the software can be adapted to different sizes of the Stewart platform , designed by a menu pops up the dialog box interface , the basic structure of the size of the Stewart platform used input from software external . Parallel robot 6 - SPS parallel mechanism as paper objects , the use of the mathematical foundations of vector operations and coordinate transformation deduced 6 DOF parallel robot inverse position and positive solutions of mathematical models , and then use the mathematical foundation inversely 6 DOF Parallel Robot 6 strut rods three Euler angles to drive virtual 6 - DOF parallel robot . The 6 DOF Parallel positive solutions to the mathematical model , the paper uses three-dimensional search method for symmetrical Stewart parallel robot , the nonlinear equations of the mathematical model is reduced to three the number of unknowns and selection discrete Newton method for solving nonlinear equations , numerical solution of the programming work . Thesis symmetrical Stewart parallel robot , the 6 - DOF Parallel positive solutions into the argument polynomial equations , and multivariate resultant elimination , the argument polynomial equations further drop dollars to complete the theoretical derivation of the analytic solution of 6 - DOF parallel robot position positive Solutions .

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CLC: > Industrial Technology > Automation technology,computer technology > Computing technology,computer technology > Computer applications > Information processing (information processing) > Computer simulation
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