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1、虚拟环境下三自由度并联坐标测量机的运动建模与仿真摘 要并联坐标测量机是一种新类型的坐标测量系统，它模拟多足生物的运动形式。+由于运动的复杂性，只凭计算数据很难直观、准确地判断测头的位置和姿态，必须通过虚拟样机模拟并联坐标测量机的作业过程。本文在 Windows XP 环境下，通过 VC+调用 OpenGL 函数，对测量机的各部分零件进行实体造型，并按照零件间的装配关系进行实体装配，获得坐标测量机的三维仿真图，再与运动学位置分析的正解模型和反解模型相结合，开发出能实时运动的三维并联三坐标测量机的虚拟样机，实现高效率、低成本的仿真作业。经测试证明，该系统运行可靠，效果逼真，为研制真实样机提供了手段
2、。由于本人水平有限，文中的错误和不足在所难免，恳请各位老师给予批评和指正。关键词：三自由度；坐标测量机；虚拟样机；并联机构Kinematic Modeling and Simulation of 3-DOF Parallel CMM Base on Virtual EnvironmentAbstractThe parallel mechanism CMM (coordinate measuring machine), as a new type of CMM, simulates the motion form of multiped. Because of its complicated m
3、otion, it is difficult to judge the position and stance of probe intuitionisticly and exactly only by calculational data. It is obligatory to simulate the operation process of parallel mechanism CMM by virtual prototype. In the paper the OpenGL functions are transferred by VC+ under the windows XP s
4、o that the various parts of CMM are entity-sculpted, and entity-assembled according to the constructional relation between parts. So the 3D simulative figure of CMM is obtained. Moreover, combining with the kinematics obverse solution model and reverse solution model of position analysis, the virtua
5、l prototype of three-freedom-degree parallel mechanism CMM is developed, which can motion in real time and realize simulative operation in high efficiency and low cost. It is proved by test that this system runs reliably, has realistic effect and provides means for manufacturing actual prototype.Bec
6、ause of the limits of the authors ability ,there may be some mistakes and shortcomings in it ,thanks a lot for your pointing out the mistakes for correction.Keywords：Three-degrees-of-freedom；Coordinate-measuring Machine；Virtual Prototyping；Parallel-link Mechanism目 录第第 1 章章 前前 言言.41.1 课题研究的学术背景.41.2
7、国内外研究现状.5第第 2 章章 三自由度并联三自由度并联 CMM 的结构及的结构及工工作原理作原理.82.1 并联运动机构概述.82.2 三自由度并联 CMM 的结构及机械运动原理.92.3 控制系统结构及工作原理.102.4 虚拟现实技术.11第第 3 章章 OpenGL 三维图形设计与制作三维图形设计与制作.133.1 OpenGL 简介及基本操作.133.2 在 Win32 环境下运行 OpenGL 程序.143.3 程序框架窗口的建立.153.3.1 工程的建立.153.3.2 添加静态库.153.3.3 窗口的初始化.16第第 4 章章 坐标测量机测量空间分析坐标测量机测量空间分析
8、.174.1 并联机构坐标测量机的运动学约束.174.1.1 连杆杆长约束.174.1.2 运动副转角约束.174.1.3 连杆杆间干涉.184.2 确定测量空间的基本方法.184.3 计算机仿真结果分析.19第第 5 章章 三自由度并联坐标测量机虚拟原三自由度并联坐标测量机虚拟原型型开发开发.215.1 虚拟原型样机的几何层次结构.215.1.1 虚拟原形样机几何模型的获取方法.225.1.2 虚拟原型样机的形象建模.235.1.3 虚拟原形样机的几何造型过程.245.2 三自由度并联坐标测量机虚拟原形样机的运动建模.255.2.1 三维图形几何变化的数学基础.265.2.2 三自由度并联坐标测量机运动机构的运动特征描述.285.3 虚拟原型样机的运动过程仿真.29第第 6 章章 结结 论论.35参考文献参考文献.36致致 谢谢.
