| Recent years, as the human footprint to expand into space, deep sea, radiation andother dangerous environment, hazardous environment robots come into use. Underwaterclimbing robots used in nuclear power plant could replace people to check and salvageforeign bodies in the reactor core and pool, which will ensure the safety of people. Virtualreality technology has been frequently quoted to the control system of the robot, to improvethe operator’s sense of immediacy, enhance operability and control precision of the system.It has gradually become one of the main research direction in nuclear robots.In this paper,we have studied virtual modeling technology, supported by the national "863" project:"Multi-function underwater climbing robot for nuclear power plant"(project number:2011AA040201).The main research contents and innovative research results are as follows:1. The paper has used software SolidWorks to complete virtual models’ geometricmodeling, and made full use of the function of shading and rendering to generate a highsimulation of virtual robot and environment.2. Manipulator’s forward and inverse kinematics models have been established. Thevirtual robot’s hierarchical modeling and computer modeling have been completed.3. The paper has set up special robot motion simulation module by using VB.NET forsecondary development of SolidWorks, and completed movement modeling. Collisiondetection has been easily realized by the collision detection function in SolidWorks API.4. Microsoft Office Access has been used to manage the large data of virtual realitysystem in the process of model establishment and movement.5. This paper has used Labview to develop robot control system to communicate thereal robot with virtual models, and has achieved the three major functions: enhance visualfeedback, simulation training and trajectory planning. Virtual reality system has beensuccessfully applied in the robot control system. |
PDF Full Text Request