| With the promotion and popularization of educational robot in teaching practice,more attention is paid on the research of virtual robot. However, studies focuson graphical programming and physical simulation stage, the robotic assembly processis usually neglected, which differs greatly from the real fact in such aspects as sense ofreality and interaction. Poor scalability and bad effect of some simulation software goagainst the innovation practice.In this thesis, virtual assembly is introduced aimed at solving former disadvantages.Assembly modeling and path planning is proposed as the main object of study. Themain contents are as follows:Firstly, this thesis discusses how much information the part model should have inthe assembly environment in order to study how to build the perfect part model.Hierarchy model which is used to store message of robot model in virtual assemblysystem is presented, making the levels of assembly model clearly. Using quaternion todescribe rotation of part, this thesis puts forward a method of capturing position plane toassist users in completing position transformation in a virtual environment. Then, thisthesis deals with the assembly relationship between the parts, and summarizes fourassembly constraints, thus proposes an algorithm which is based onthe hierarchy constraint capture and recognition technology, so as to realize partlocating under assembly navigation as accurately as possible. Explore the collisiondetection in assembly path planning finally, using by the three collision detection whichincludes preliminary detection, the intermediate detection and the accurate detection, theresults in turn map to the layers of hierarchical model to achieve real andaccurate collision detection.Research in this thesis is applied to a self-developed system named “BDS virtualrobot”. Effectiveness of the proposed methods of virtual assembly modeling and pathplanning technology are verified after system function testing and performance analysis. |
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