Workspace Of Serial Mechanism3D Modeling Research

The workspace of mechanism is space range achieved, which size and shape reflects theability to work. Workspace research not only helps to evaluation mechanism kinematicperformance, but also is the key indicators of measure of mechanism design rationality. Theserial mechanism work space analysis is the basis of the analysis of complicated mechanism.Constructing3D model of the workspace of serial mechanism can help us accurate image of thecalculation and visualization of the serial the workspace, and shorten the time of mechanismdesign.This paper proposed a serial mechanism characteristics identification algorithm, andestablishes the work space of3D generating method, which data structure and realizationmethod are analyzed. The research content of the paper mainly includes the following severalaspects:(1) Introduced the serial mechanism work space research meaning and purpose, and analysisthe workspace,3D modeling, the research present situation and method, and propose theresearch objective and research content.(2) The ACIS, HOOPS and InterOp technology platform. Detailed analysis of the ACISkernel graphics data topology, and the topological object types, and the HOOPS graphicsrendering mechanism as well as the InterOp data conversion structure.(3)The serial mechanism characteristics identification algorithm. According to thecharacteristics of joint, this paper present a mathematical expression based on point line methodfor joint characterization, and presents the joint expression equation construction process; Thenrealize the mechanism of joint characteristics identification.(4) According to the D-H method to establish the serial mechanism of moving coordinatesystem, and then according to the agencies coordinate system model, and get all the jointsbetween the transformation matrix, thus obtains the serial mechanism kinematics equation.Through the kinematics equation, realize calculated the scope of the agency.(5) According to the definition of NURBS surface and the calculation formula, a detailedanalysis of the NURBS surface construction, including the curve fitting and the operation of theskin. The construction method of NURBS surface for serial mechanism movement range of point set generation smooth accurate graphics provides a good support.(6) The serial mechanism of topological structure. Firstly, Building a serial mechanism jointdata structure and every joint storage way. Secondly, Realizing parameter combination mapping.Last, According to the serial mechanism kinematics equation computing mechanism combiningwith the construction method of NURBS surface to realize the three dimensional modeling ofworkspace.