A Scene Simulation And Collision Detection System For 6 DOF Manipulator Based On VR

Six Degrees of Freedom (6DOF) Manipulator is a very complex mechatronic system, which has been widely used in aviation, aerospace, military, machinery manufacturing and other fields. In certain work environments, because the poor conditions are not suitable for the operator to stay, the 6DOF manipulator is often beyond human sight, the operator can not directly operate the 6DOF manipulator, so the real-time athletic stance of the 6DOF manipulator can not be directly observed. When the system is working, the 6DOF manipulator may collide with other objects in motion. Without the timely control and operation, serious damage would be caused.For this problem, this paper proposed the method of the scene simulation and collision detection for the 6DOF manipulator based on Virtual Reality (VR). By creating a visual simulation system, the operator can directly observe the real-time athletic stance of the 6DOF manipulator and take the timely control and operation, effectively solved the inconvenience caused by indirect operation and ensured the security of the 6DOF manipulator.This paper has a deeply research of the basic theory and application of VR, and has created the 3D models of the 6DOF manipulator and its work environment by the real-time 3D modeling software MultiGen Creator and the 3D mechanical design software SolidWorks. By using the powerful function of the visual simulation of Vega Prime, the scene simulation of the real-time athletic stance of the 6DOF manipulator has been achieved. By using the custom collision detector, the early warning function of the collision may occur during the operation of the 6DOF manipulator has been realized. Finally, the software of the scene simulation and collision detection system for the 6DOF manipulator is developed on the Visual C++.NET platform.