一种开放式机械臂3D虚拟仿真平台快速构建方法
A Quick Method of Constructing Open and 3D Manipulator Virtual Simulation Platform

针对机械臂三维运动仿真及在线实时控制，提出了一种高效开放式的机械臂3D虚拟仿真平台快速构建方法。该方法以具有强大数据处理能力的MATLAB软件为构建平台，充分将SolidWorks专业实体建模软件、Robotics Toolbox中的实用建模函数、MATLAB的GUI交互设计和MATLAB 3D动画及显示技术等功能结合并应用到机器人虚拟仿真平台构建中，构建可视化程度高、高效运行且具有强大输入输出功能、模型细节显示逼真的机械臂3D虚拟仿真平台。以笔者所在课题组构建的雄克六自由度模块化机器人手臂为例，深入详细地阐述了所提出的仿真平台快速构建方法的实施步骤，最终得到一个开放程度高、可视化程度逼真的该机械臂3D虚拟仿真平台。最后给出了仿真平台的部分显示效果图，测试结果表明，使用该方法能够实现机械臂3D虚拟仿真平台的快速构建，并且该平台具有良好的实用性和可操作性，能够满足科研和教学的需要，验证了本方法的有效性。
To carry out the three-dimensional motion simulation of a modular manipulator and its real-time online control, a fast and efficient method of constructing an open 3D manipulator virtual simulation platform was presented. The method was carried out by using as an environment platform the MATLAB software that has powerful data processing capacity. The functions of professional solid modeling software of SolidWorks, the practical modeling functions of robotic toolbox and the MATLAB GUI interaction design and 3D animation and display technology of MATLAB were applied to the construction of a good visualization, the powerful function of the input and output and the realistic and detailed model of the 3D manipulator virtual simulation platform. Taking the Schunk six-DOF modular manipulator as example, the implementation procedures of this method were described in detail, thus realizing the high-level open and 3D manipulator virtual simulation platform with realistic visualization. Some of simulation graphs are displayed. The test results show that this method can quickly construct the 3D virtual simulation platform with good usability and high maneuverability, which can meet the needs of scientific research and teaching. The test results also prove the effectiveness of our method