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以六自由度蒸汽发生器检修机械臂三维运动仿真为背景,利用SolidWorks进行机械臂三维建模,并且介绍了利用COSMOSMotion插件来实现机械臂运动虚拟仿真的方法,重点分析了机械臂的三维建模和建模后运动学正反解的实现。对于一般的机械运动模拟系统,该实例具有一般普遍性。
Based on the three-dimensional motion simulation of a 6-DOF steam turbine overhaul robot, a three-dimensional modeling of the manipulator is carried out by using SolidWorks. A method for realizing the virtual simulation of the manipulator motion by using the COSMOSMotion plug-in is introduced. The three-dimensional modeling of the manipulator is mainly analyzed And the realization of positive and negative solution of kinematics after modeling. This example has general applicability to a general mechanical motion simulation system.