Develop The Simulation System Of Parallel Robot Based On Virtual Reality Technology

Virtual reality (VR) technology is a new and high technology which based on the development of computer graphics, sensor and artificial intelligence technology. It has many characteristics, such as immersion, interactivity and imaginative. Choosing the appropriate study plan is able to integrate the virtual scene and real scene quickly, and develop product conforming to the technical requirements of virtual reality simulation system.Applying virtual reality technology to path planning of parallel robot, not only can realize the site operation and remote operation of physical prototype of parallel robot, but also can realize the comparison of trajectory of virtual prototype and physical prototype detecting motion consistency. To apply virtual reality technology in industrial production, not only can make up for the lack of video and image data in the current industrial production, fulfilling monitoring the work status of robot, but also can reduce the harm to the workers in industrial production by remote operation.In this topic, we take the 3-TPS parallel robot developed by advanced manufacturing institute in northeastern university as the research object, and plan to develop a set of virtual reality simulation system based on 3-TPS parallel robot. It will focus on parallel robot’s virtual prototype, the construction of virtual scene and the control of virtual prototype. Specific content as follows:(1) Based on the basis of related literature at home and abroad, we summarizes the research status and development trend of the virtual reality technology and the parallel robot, and the application of virtual reality technology in the field of robot, establishing the technology development route of this project.(2) In order to develop virtual reality simulation system conforming to the requirements of the technology rapidly, we research an analysis the implement approach of Multigen Creator, Vega Prime and Blender, Python technical proposal, analyzing the feasibility of them. Finally, We use the plan of Blender, Python.(3) In order to be able to develop reasonable 3-TPS virtual prototype of parallel robot quickly, we studied the comparison of modeling of the Blender virtual reality software and Solidworks software. We use Solidworks software to complete the modeling and assembly of parallel robot virtual prototype and import the Blender virtual reality engine,completing the build and binding of parallel mechanism parts、the whole skeleton model in the Blender parts.(4) In order to achieve preliminary motion of 3-TPS parallel robot virtual prototype in virtual reality engine, we studied the setting of BGE system logic editor and Python’s control script programming in Blender software.(5) In order to realize the external controller to control the movement of the virtual prototype, we wrote the program of Arduino controller, and achieve Arduino controller control the movement of 3-TPS parallel robot virtual prototype in BGE through debugging the serial ports of pySerial.Through determining the technology development plan reasonably, this paper developed a virtual reality simulation system based on 3-TPS parallel robot. Experiments show that the virtual prototype of parallel robot trajectory conform to the requirements of the controller, it laid a solid foundation for simulation system connecting the parallel robot physical prototype.