Virtual Reality Technology of Hydraulic Six-DOF Parallel Mechanism Driven by User Datagram Protocol Data
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.
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