Kinematics Analysis And Simulation Of High-voltage Electric Power Live Line Working Robot

The high-voltage electric power live line working robot is a kind of new style robot appearing recently. The bad working condition makes the high-voltage electric power live line work more complicated, so it's very difficult for the operator to manipulate the robot and finish the work. The application of the virtual reality technology in the field of robot makes the complicated action reappear in the virtual simulation system. It can not only test structure design of the robot, but also train the operators. This technology is in the light of this problem to design and develop the system of three-dimensional simulation of high-voltage electric power live line working robot. It not only provides the designers with the virtual research platform of kinetic simulation of manipulators, but also provides the operators with a virtual training platform.The software developing environment of this simulation system is VC++6.0. OpenGL (open graph library) is applied to build the platform of simulation system. And I also finish the design of program module such as 3-D modeling, collision testing, human-computer interaction, model rendering of manipulator. This system can realizes the control and dynamic simulation of the complicated movement of the dual arm robot model in the virtual space.First, I use the platform that bases on the VC++6.0 and OpenGL to rebuild the basic frame of three-dimension simulation system about the high-voltage electric power live line working robot. Further more, I finish the development of the functional module such as human-computer interface, model rendering.Then this thesis defines the working space with geometry analysis according to dual arm structure features and working space features of electric power live line working robot. It also makes a kinematics analysis according to the dual arm movement features of the robot. Then it provides the foundation for the physical modeling and calculating modeling of virtual model.This thesis uses 3-D modeling software Pro/E to make a geometry modeling. Under the environment of OpenGL, it uses the triangle-feature face model method to build the face model of the robot with the program of interface and based on the geometric feature of the model. Then it fulfills the dynamic simulation of the robot's movement.This thesis gives a deep research on the test of collision between the robot's two arms and between the manipulator and the object. It analyzes the process of the collision detection algorithm of hierarchical bounding volume and intersection testing method of the basic geometrical elements. This thesis designs a set of collision testing method on the basis of AABB bounding volume. Then it fulfills the collision test of the model and the update of the bounding volume.Base on the Simulation system of High-voltage Electric Power Live Line Working Robot, we can realize human supervision, manipulation and interaction with the virtual objects from Long Distance. For inner research in dynamic simulation and collision detection of multidimensional DOF robot and for the next step of development and research, the result of this discourse has an important academic significance.