A Method for Two-Dimensional Dynamic Simulation and Display of Manipulator Trajectory

Abstract

The invention discloses a method for two-dimensional dynamic simulation and display of the running track of a mechanical arm, which belongs to the technical field of mechanical structure motion track simulation, and comprises the following steps: (1) GDI+drawing preparation; (2) acquiring the information of each joint point of the mechanical arm in real time; (3) Convert the spatial position and attitude information of each joint point of the manipulator into the coordinate value of the drawing point in the drawing area, and the rotation angle value; (4) Start GDI+ drawing, and dynamically draw the contour and running track of the manipulator; (5) Repeat steps (2)-(4) to draw the amplitude, telescopic and rotation movements of the robotic arm in real time, and form a coherent trajectory of the robotic arm. The present invention quickly and accurately displays information such as the running trajectory of the mechanical arm, the joint action, the position and posture of the clamping mechanism, and the like, and is displayed on the interface.

Description

technical field [0001] The invention belongs to the technical field of motion track simulation of mechanical structures, and in particular relates to a method for two-dimensional dynamic simulation and display of the running track of a mechanical arm. Background technique [0002] A certain type of missile transport and loading vehicle uses the coupling action of the multi-joint robotic arm to automatically load the missile to the corresponding position of the launch vehicle, or unload the missile from the corresponding position of the launch vehicle to the loading vehicle. [0003] In order to realize the function of automatic loading or unloading, we fix the folding arm crane (the base can be rotated) on the chassis of the vehicle, and set up the boom luffing mechanism, the boom telescopic mechanism and the attitude adjustment platform, etc., by the above mechanism The coupling action of the terminal clamping device is used to realize the displacement of the terminal clamp...

AI Technical Summary

Problems solved by technology

For some untrained operators, it is impossible to quickly make reasonable operation judgments based on the displayed data, such as judging from the displayed data where the current end effector is running? What is the angle of rotation of the spreader platform relative to the body? Need to avoid obstacles? Whether the current state can be used for target clamping, etc.

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