A Study of Kinematic Simulation System with OpenGL for HEXA Robot

• Main Authors: BING-HONG,SHIH, 施秉宏
• Other Authors: LIN,CHING-KUO
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/50358578408505803208

碩士 === 華梵大學 === 機電工程學系 === 105 === HEXA robots (six-axis parallel robot) are different from the three-axis parallel robot, with 6 degrees of freedom of functionality, also has a stable closed structure, suitable for use in high-speed operation. But the HEXA linkage group is also more than Delta robots, so the action limit is also compared to Delta robot complex. The purpose of this research is to establish a simulation system of HEXA robot dynamics, first by the Solidworks software to draw the HEXA robot, and the STL file into the simulation system, finally use OpenGL to establish the simulation platform, the import path data for dynamic simulation, with detection of joint distance, confirm whether simulation the problem of the separation of institutions. The simulation system can be used to understand the action of HEXA robot in a graphical way. It can also be used to confirm whether the imported path can be applied to the actual machine.