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
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TP391

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国家重点研发计划(2021YFB3400502)


Virtual Reality Technology of Hydraulic Six-DOF Parallel Mechanism Driven by User Datagram Protocol Data
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    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AMESim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 reproduce 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 software MATLAB and the virtual reality development software Unity3D. Firstly, the three dimensions (3D) model of the parallel mechanism 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 actions 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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王悦然,孔屹刚,李兆鹏,等. 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[J]. 科学技术与工程, 2024, 24(18): 7760-7768.
Wang Yueran, Kong Yigang, Li Zhaopeng, et al. Virtual Reality Technology of Hydraulic Six-DOF Parallel Mechanism Driven by User Datagram Protocol Data[J]. Science Technology and Engineering,2024,24(18):7760-7768.

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  • 收稿日期:2023-06-18
  • 最后修改日期:2024-04-18
  • 录用日期:2023-11-07
  • 在线发布日期: 2024-07-05
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