| Robotics has becoming one of the most active fields in the modern scientific technology. It is the embodiment of nations' science and technology level. It continually absorbs the latest outcomes from the researches and applies them to its own field. At the same time, in order to satisfy the living needs of people, it develops more intelligent and diverse products. In such situation, traditional teaching methods can't meet requires of robotics. Therefore, the research of teaching-robot has important practical significance. It can act as a teaching tool of robotics and mechanitronics.This paper takes teaching and experiment aims as background. The typical small size five-freedom robot is designed. It confirms the structure scheme of the robot and analyzes its kinematics. The kinematics equation and expressions are derived.It adopts the virtual reality technology to accomplish the kinematics simulation of the robot. The models in the virtual reality are established by indirect modeling method. The initial model is drawn using Pro/E 3D software, then makes use of the derive function to translate the image to the model in the virtual reality. The movement of virtual simulation is realized with MATLAB toolbox. Through the interface technology, MATLAB/Simulink can achieve visual operation towards the virtual reality world. Accordingly, it realizes simulation motion of virtual models under the mode of given signal and serial communication.The experiment results prove that virtual reality technology can be applied in the preliminary stage of virtual design in the field of mechanitronics. It also can play its excellent performance in later experiment and application with broad developing space. |
PDF Full Text Request