摘要
建立3PRS型三足并联机器人模型,基于Borland C++Bu ilder 6软件,调用Open GL三维图形库,实现3PRS并联机器人的运动仿真,给出详细的设计步骤和运行结果。用户可以对3PRS并联机器人的结构参数进行修改,并选择滑杆的运动方式,也可以对机器人进行一系列操作。界面设计简洁实用,仿真速度可达20帧/s,机器人可平滑运动。
This paper sets up the model of a 3PRS tripod. Based on the software Borland C ＋ ＋ Builder 6 and OpenGL, it realizes kinematics simulation of tripods, and presents design steps and running results in details. Users can setup tripod＇s structure parameters, and choose its moving mode, and make some operations. This paper provides a convenient and laconic user interface. Simulate velocity is up to 20 flames per second, and the tripod can move smoothly.
出处
《机械研究与应用》
2006年第4期82-83,88,共3页
Mechanical Research & Application
