Research On The General Simulation Platform For Manipulator Based On Modular Components

With the development of robot technology, the research of the robot technology based on the simulation platform has become an indispensable means. Compared with the traditional method, the robot simulation platform is able to simplify the complex problem in robot system, and describe the real operation process of robot based on the accurate and effective model, so as to realize the prediction and analysis of the characteristics and defects of the robot. The robot simulation platform which faces specific robot object has the problems like the model is not universal, the function is difficult to expand, etc. Therefore,this paper focuses on the robot simulation platform's versatility and scalability issues, a general simulation platform of manipulator based on modular components is designed, the separation between the robot and the simulation platform is realized, the versatility and scalability of platform are guaranteed, and it's consistent with the strategic goal of robot technology development, which has a significant economic and practical value. The main research contents of this paper are as follows.Firstly, the general simulation platform that for manipulator based on modular components is designed. Through the demand analysis of the simulation platform, the specific functions and performance requirements of the platform are summarized. Combined with the platform needs, and refer to the existing system architecture design concept, this paper designs platform framework of MVC mode, to reduce the system coupling, compared with the general platform architecture. In order to meet the requirements of platform's versatility and scalability, platform structure unit has been divided, unit workflow has been designed, and platform interaction interface has been constrained. With the goal of good human-computer interaction experience, the interactive interface of the platform is designed, and the layout of the simulation platform structure has been finished.Secondly, research on fast general modeling method of manipulator based on modular components has been completed. In order to meet the versatile requirement of the simulation platform, this paper analyzes the characteristic of the modular components' size and structure, divides the components types, and designs the standard interface of the modular components. The modularized components library is constructed to provide the standard information interface for the model building. The architecture of the platform model is designed, and the relationship between the manipulator and working environment is obtained. Then aiming at the problem of complex operation process in modeling process,this paper introduces the connection port item in the modeling method,and combined with the standard information interface, the fast general model construction theory research based on the transformation matrix has been completed, therefore the platform has the fast modeling function of the modular manipulator and working environment, to achieve platform versatility.Again, research on reconstruction of manipulator collision detection model based on modular components has been complished. According to the scalability requirement of the simulation platform, the improved basic collision detection algorithm is studied, and the structure of the general collision detection algorithm based on modular components is designed.Considering the existing collision detection algorithm can't be combined with the environmental characteristics to complete the detection process of autonomous optimization, collision detection based on scene learning optimization technology has been studied, to improve the efficiency of the collision detection algorithm. Combined with the platform interactive interface, the collision detection function module has been added into platform, and the research on the reconstruction of manipulator collision detection model is completed.Finally, in order to verify the simulation platform's versatility and scalability, display the value of general simulation platform in the field of robot research, an experimental study on the PowerCube modular manipulator system is carried out. Using the simulation platform to build the object's simulation environment, and according to the task needs to add a new functional module. Using simulation platform to help design and improve the experimental content, and connect to the physical platform to complete the experimental task. The experimental results verify the feasibility and effectiveness of the platform's correlation function.