Visual Simulation Of 6-DOF Parallel Robot System Based On Virtual Reality Environment

A visual simulation system based on virtual reality environment has been developed in this thesis. This system can be used in research and analysis of the practical design. It can realize the real-time movement of 6-DOF parallel robot in VR environment and bring forth the practical usage of 6-DOF parallel robot system. Precision and cost of CPU time must be considered during the design process.In the thesis,3D modeling of 6-DOF parallel robot based on MFC of Visual C++ 6.0 is accomplished with OpenGL. Model optimization is adequately considered in this process in order to ensure the real-time performance of the system. Furthermore, considering the applicability of the system, a dialog popping from the menu is designed where the basic parameters of 6-DOF parallel robot can be read.In the thesis, the mathematical model of forward position analysis for 6-SPS parallel robot has been established with the mathematical basic of vector operation and coordinate transform. In reverse, Euler angles of every one of the 6 poles of 6-DOF parallel robot are computed to drive the virtual 6-DOF parallel robot.The 3D searching method is adopted to reduce the number of variables of the nonlinear equations in the thesis after establishing forward position analysis mathematical model of 6-DOF Parallel Robot. The method only aims at symmetrical Stewart parallel robot. Discrete Newton method has been used to solve the nonlinear equations with 3 unknowns and the programming for the numerical roots has completed.In the thesis, forward position analysis of 6-DOF parallel robot has been translated into 3 variables polynomial equations. And this method is also only aims at symmetrical Stewart parallel robot. Furthermore, the number of the variables in above polynomial equations is reduced with multivariate resultant elimination and the analytical solution is found.