利用用户数据报协议数据驱动的液压六自由度并联机构虚拟现实技术
Virtual Reality Technology of Hydraulic Six-DOF Parallel Mechanism Driven by User Datagram Protocol Data
王悦然 1孔屹刚 2李兆鹏 1张浩 1李潮 1王学良1
作者信息
- 1. 太原科技大学机械工程学院,太原 030024
- 2. 太原科技大学机械工程学院,太原 030024;山西省新能源航空智能保障装备技术创新中心,长治 046000
- 折叠
摘要
针对复杂系统虚拟现实技术应用时实现精准描述系统的动态工作原理,复现真实系统的运动控制功能比较困难的问题,以具有高阶、非线性、强耦合等特征的液压六自由度并联机构为研究对象,提出了一种利用用户数据报协议(user datagram protocol,UDP)实现专业软件MATLAB与虚拟现实开发软件Unity3D的虚拟现实技术.首先利用三维建模软件SolidWorks构建并联机构三维模型,将模型导入Unity3D软件中并对其施加关节约束;其次对并联机构进行运动学反解,建立MATLAB与AMES-im联合仿真模型;最后通过UDP协议,实现MATLAB与Unity3D双向实时数据交互并驱动虚拟机构动作.仿真表明:虚拟机构动作完全符合真实物理系统的工作原理,基于UDP协议数据驱动的虚拟现实技术具有很好的准确性与实时性.
Abstract
In view of the problem that it is difficult to accurately describe the dynamic working principle of the system and repro-duce the motion control function of the real system when the virtual reality technology of the complex system is applied,the hydraulic six degrees of freedom(six-DOF)parallel mechanism with high order,nonlinear,strong coupling and other characteristics was used as the research object,and a virtual reality technology using user datagram protocol(UDP)was proposed between the professional soft-ware MATLAB and the virtual reality development software Unity3D.Firstly,the three dimensions(3D)model of the parallel mecha-nism was built in the 3D modeling software SolidWorks,and the model was imported into the Unity3D software and the joint constraints were applied on it.Secondly,the inverse kinematics of the parallel mechanism was solved,and the joint simulation model of the MATLAB software and the AMESim software was established.Finally,through UDP,Two-way real-time data interaction was realized between the MATLAB software and the Unity3D software,and the virtual mechanism was drove to action.The results show that the ac-tions of the virtual mechanism are fully conformed to the working principle of the real physical system,and the virtual reality technology based on the UDP data-driven is good accuracy and real-time performance.
关键词
液压并联机构/六自由度/UDP协议/数据驱动/虚拟现实Key words
hydraulic parallel mechanism/six-DOF/UDP protocol/data-driven/virtual reality引用本文复制引用
基金项目
国家重点研发计划(2021YFB3400502)
出版年
2024
NETL
NSTL
万方数据