| The hydraulic six-degree-of-freedom parallel mechanism is widely used in a series of fields because of its high stiffness,superior dynamic performance,and no cumulative position control error compared with serial robots.The User Datagram Protocol(UDP)is mainly used to send datagram packets to applications,enabling them to build their own protocols at the required level.Its packet structure is simple,data transmission speed is fast,and it can effectively meet the real-time requirements of data transmission.This paper proposes a virtual hydraulic six-degree-of-freedom parallel mechanism experimental teaching system based on the Unity3D environment.Because it is difficult to accurately describe the dynamic working principle of the system in the application of virtual reality technology in complex systems,it is difficult to reproduce the motion control function of the real system.In this paper,a virtual reality technology using UDP to implement professional software MATLAB and virtual reality development software Unity3D is proposed based on a hydraulic six degree of freedom parallel mechanism with high order,nonlinear,and strong coupling characteristics,A virtual experimental platform for hydraulic six degree of freedom parallel mechanism was built using Unity3D development software.Firstly,a threedimensional model of the parallel mechanism is constructed using the threedimensional modeling software Solid Works,and then rendered and mesh deleted in 3DMax.After that,the model is imported into the Unity3D software,and joint constraints are applied to it to establish a complete virtual prototype;Secondly,the inverse kinematics of the 6-DOF parallel mechanism is solved,and a joint simulation verification model using MATLAB and AMESim is established;Finally,through UDP protocol,the real-time data of the simulation model hydraulic cylinder piston rod in MATLAB/Simulink is transferred to the Unity3D virtual scene,and the real-time data interaction between MATLAB and Unity3D is realized through C # scripts and the virtual prototype is drove.The simulation shows that the virtual prototype actions fully comply with the working principles of real physical systems,and the virtual reality technology based on UDP protocol data driven has good accuracy and real-time performance.Finally,according to the actual laboratory environment,a virtual experiment scene was built,and the overall teaching function of the hydraulic 6-DOF parallel mechanism experimental teaching platform was designed and implemented.Based on Unity3D virtual hydraulic six-degree-of-freedom parallel mechanism experimental teaching system,students and teachers are not limited by environmental costs and other factors to learn and study the motion state of hydraulic six-degree-of-freedom and the hydraulic characteristics of hydraulic system,which can lay a foundation for the subsequent application of virtual reality technology in the field of education. |
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