Research And Develop The Hybrid Robot System Using The Virtual Reality Fusion

In recent years,with the need of social development,the Virtual Reality Technology(VRT)has getting more and more national attention.The development of virtual reality technology pushes the application of the traditional technology to new level,and puts wider application platform for it.Hybrid robot based on virtual reality technology between the actual and virtual prototype model of synchronous control is the new application of virtual reality technology in the traditional machinery industry.This synchronization control can not only control the movement of the robot model,real-time monitoring the status of sports,but also view the internal parts of locomotion to get the performance of the robot fully.In recent years,more and more countries is showing interest in remote control,with the vigorous development of internet technology,so that how to accurately synchronize control and real-time feedback parameters and data become an urgent problem to be solved.Virtual reality technology is a comprehensive modern technology such as artificial intelligence,sensor and the development of high and new technology.In this paper introducing virtual reality technology in the process of the hybrid machine movement not only can control and monitor hybrid machine motion in real-time,but also feedback the data to the user.Which can be applied to some bad environment,high radiation and other dangerous situations and humans cannot reach place,in order to reduce the damage of the environment for human.This hybrid machine of the paper designed is based on the 3-TPS and 3-TPT hybrid machine which is developing and researching by northeastern university.Then based on the type of hybrid machine developed remote synchronization control system,so this paper will research the hybrid machine structure,virtual environment and the realization of synchronous control.This paper uses the software and hardware are mainly:Solidworks;Adams;Blender;Python;Arduino,etc.In order to achieve the above purpose,this paper adopts the Solidworks to build the model,using the Arduino to control,the fully research ideas are as follows:(1)Reading the literature about the Virtual Reality to know the hybrid machine carefully,and expounds the development status of hybrid machine.(2)Build the hybrid robot modeling Using Solidworks design the hybrid robot structure,exporting the engineering drawing,calculating and using screw theory to calculate the DOF of the hybrid machine and finally we analysis the model to optimize the bar,so that we determine the whole model of the hybrid robot.(3)The performance analysis and simulation of the hybrid robot When we complete the hybrid robot,we could analyzes its working space and kinematics,and we can output the hybrid robot's velocity and acceleration curve to get its all model's performance to verify out with three ball screw rod.(4)Establish the virtual prototype and the working environment Importing the 3d model into the animation software,setting the original position,using the control bone method establish the corresponding script to indirectly control the movement of the hybrid robot.(5)Establish the synchronization control communication interfaceAfter setting the BGE engine's logic controller,we can then control the model.Using the infrared or Bluetooth signal to control method,after the Arduino receiving the signal,it will send the signal to the python script to control the virtual model movement through the computer's serial port.Conclusion:Established the 3-TPT hybrid robot virtual prototype and work out the physical prototype,completed the synchronous communication between the two.