1、 华中科技大学文华学院 毕业设计（论文）外文文献翻译 题 目 ： 基于 虚拟现实技术的机器人运动仿真研究 学 生 姓 名： 孙莹 学号： 080302021119 学 部 （系）： _机械与电气工程学部 _ _ 专 业 年 级： 08 级机械设计制造及其自动化 2 班 指 导 教 师： 李文慧 职称或学位： _ 讲师 _ 1 外文文献翻译（译成中文 1000 字左右）： 【 主要阅读文献不少于 5 篇 ， 译文后附注 文献信息 ，包括 ： 作者、书名（或论文题目）、出 版 社 （或刊物名称）、出版时间（或刊号）、页码 。 提供 所译外文资料附件（印刷类含封面、封底、目录、翻译部分的复印件等，网
2、站类的请附网址及原文 】 Research on Motion Simulation for Robot Based on Virtual Reality Abstract Aiming at the shortcomings of using traditional solid model for network-based simulation, the 3D visualization of the model and motion simulation for robot is realized by VRML and Java interaction through the Exte
3、rnal Authoring Interface (EAI) in this paper. In order to observe the three-dimensional robot in motion on a WEB browser, the virtual environment of the robot is established by VRML based on virtual reality technology, and the 3D assembling model of robot is built by UG software and channelled into
4、the virtual environment by VRML format. According to the direct kinematics problems and inverse kinematics problems of robot, the motion simulation program for robot is made by VRML and Java language with the movement simulation control function to realize the motion simulation. The method can not o
5、nly browse motion process of robot, but also is suitable for transmission of network to realize resource-sharing, therefore the research of motion simulation for robot based on internet has important research value and application prospect. Index Terms Robot； VRML and Java； Kinematics； Motion Simula
6、tion I. INTRODUCTION With the rapid development of computer technology and network technology, virtual manufacturing (VM) becomes an emerging technology that summarizes the computerized manufacturing activities with models, simulations and artificial intelligence instead of objects and their operati
7、ons in the real word. It realizes optimization products in manufacture process with prediction manufacture circle and promptly modification design 12.Virtual reality technology is a very important support technology for virtual manufacture because it is an important way of virtual design production.
8、 With the appearance of Java and VRML technology, robot motion 2 simulation on WEB browser turns into realization 36. Robot motion simulation is a necessary research direction in robot research field. Guo4 adopted ADAMS software for 3-RPC robot motion simulation, but the method isn t suitable for mo
9、tion simulation on internet. Yang3and Zhao5 researched the motion simulation of robot by VRML, and they didn t optimize VRML file. Bo8 provided environmental simulation within a virtual environment by Java and VRML interaction through the External Authoring Interface. Qin9 researched a novel 3D simu
10、lation modeling system for distributed manufacturing. In this paper, the CINCINNATI robot is researched and analysed by VRML and Java and VRML file is optimized fortransmission on internet. The 3D visualization model of the motion simulation for robot is realized by VRML and Java based on virtual re
11、ality. Therefore the research about motion simulation of robot based on internet is significant and application value. II. KINEMATICS OF ROBOT There are two problems for the kinematics of robot. One problem is direct kinematics problems, which the gesture of terminal actuator in the setting system o
12、f coordinates need be solved by the geometric parameter and joint variate of member. The other is inverse kinematics problems, which the joint variate value need be solved by the robot geometric parameter and the gesture of terminal actuator in the whole system of coordinates 1316. The industrial ro
13、bot is researched in the paper, and it was manufactured in CINCINNATI MILACRON COMPANY. The robot with six degrees of freedom shows in Figure1.It is extensively applied in industrial filed, such as transport, spraying and welding etc. A. DKP-Direct Kinematics Problems According to Denavit-Hartenberg6 transformation of coordinate (D-H), the position and orientation for the system of coordinates from the rod i to the rod i-1is described in the picture.
