摘要
求解了平面3RPR并联机器人运动学封闭解析反解,在此基础上,基于虚拟现实技术构建出平面3RPR并联机器人几何模型,借助Visual C++和OpenGL混合编程,对其运动学仿真进行了研究。
Closed-form solution of a 3RPR planar parallel manipulator is analyzed for inverse kinematics. Based on the above. The model of the manipulator is constructed based upon Virtual Reality technology.The kinematics simulation of the virtual manipulator is developed by the combined program of Visual C＋＋ and OpenGL.
出处
《煤矿机械》
北大核心
2010年第9期55-56,共2页
Coal Mine Machinery
基金
河北省教育厅科研计划项目(2009403)
北华航天工业学院科研计划项目(KY-2008-17)
