Design And Realization Of Virtual Prototype Of Shotcret Robot Based On Opengl

As a rising subject, virtual prototyping is important in researching and exploitation of robot technology. It's also very important in validating the working theory, the working space, the motional function, the correctness of the results of the forward and inverse kinematics analysis of robot.It plays a significant role in promoting structural design and system optimization of the robot.This paper, based on the PJR-2X shotcrete robot, used a novel design method of virtual prototype and desiged a set of virtual prototype system. The following contents aimed at the robot included:The local coordinate system of the PJR-2X shotcrete robot links was established based on the D-H transformation matrix of prepositive coordinate, the parameters of each coordinate were gained, the position and attitude equation of the end effector of the robot was inferred, and inverse kinematics equation was established based on fitting curve fitting method.Made an introduction about OpenGL programming technology and VC++ exploit tool. Summarize programming principles of MFC and established OpenGL operating environment.Discussed about modeling technoloies for establising virtual environment. The three-dimensional robot models was established which used AutoCAD, and the models was transformed into 3DS file. The interface program which developed 3DS file under the OpenGL was written through analysis the format of the 3DS file.A three-dimensional motion simulation system of shotcrete robot based on OpenGL was developed. This system simulated the actual motion of the robot, achieved external real-time operation, scene roaming, showed the forward kinematics parameters, solved the inverse kinematics pose, teaching and playback and and other functions. It laid a good foundation for validation the rationality and safety of the structure and mechanism design of the robot, and improved the design efficiency. Besides, it also solved the issue of the establishment of the complex model based on OpenGL and provided a reference for the three-dimensional motion simulation of other mechanisms.