2022年机械手运动仿真实验报告

1、机械手运动仿真实验报告机械手构造构成（简图）为机械手底座为机械臂1为机械臂2 为机械臂3a、b、c为转动副，机械臂实现3自由度运动机械手运动学方程推导绘图框及转动副夹角：绘图框大小为400X400 转动副a：anglea转动副b：angleb转动副c：anglec机械手运动范畴：机械臂1长度50，机械臂2长度100，机械臂3长度50。三个关节可实现360度旋转。故机械臂运动范畴为以半径为200旳圆内。机械手底座：X：(150,200)Y：(250,200)机械臂1：X1：(200,200)Y1：(200+ 50 * cos(anglea*3.1415926/180), (200-50 * si

2、n(anglea*3.1415926/180) 机械臂2：X2：(200+ 50 * cos(anglea*3.1415926/180), (200-50* sin(anglea*3.1415926/180)Y2：(200 + 50 * cos(anglea*3.1415926/180)+100 * cos(angleb*3.1415926/180), (200 - 50 * sin(anglea*3.1415926/180)-100* sin(angleb*3.1415926/180)机械臂3：X3：(200 + 50 * cos(anglea*3.1415926/180)+100 * co

3、s(angleb*3.1415926/180), (200 - 50 * sin(angLea*3.1415926/180)-100* sin(angleb*3.1415926/180)Y3：( (200 + 50 * cos(anglea*3.1415926/180)+100 * cos(angleb*3.1415926/180)+50 * cos(anglec*3.1415926/180), (200 - 50 * sin(anglea*3.1415926/180)-100* sin(angleb*3.1415926/180)-50* sin(anglec*3.1415926/180)机械

4、手运动仿真程序编写（核心函数代码）pWnd-Invalidate();pWnd-UpdateWindow() ;pDC-Rectangle(0,0,400,400);DrawRobotBase();DrawRobotMemberBar1(m_fanglea);DrawRobotMemberBar2(m_fanglea, m_fangleb);DrawRobotMemberBar3(m_fanglea, m_fangleb, m_fanglec);/绘制底座及其颜色代码void CDrawRobotDlg:DrawRobotBase()CPen SuiyiPen; SuiyiPen.Create

5、Pen(PS_SOLID,Wide,RGB(hong, lv, lan);CPen *oldPen;oldPen = pDC-SelectObject(&SuiyiPen);pDC-MoveTo(150,200);pDC-LineTo(250,200);pDC-SelectObject(oldPen);DeleteObject(SuiyiPen) ;/绘制杆1void CDrawRobotDlg:DrawRobotMemberBar1(float anglea)pDC-MoveTo(200,200);pDC-LineTo(int(200+ 50 * cos(anglea*3.1415926/1

6、80),int(200-50 * sin(anglea*3.1415926/180);/绘制杆2void CDrawRobotDlg:DrawRobotMemberBar2(float anglea,float angleb)pDC-MoveTo(int(200+ 50 * cos(anglea*3.1415926/180),int(200-50* sin(anglea*3.1415926/180);pDC-LineTo(int(200 + 50 * cos(anglea*3.1415926/180)+100 * cos(angleb*3.1415926/180),int(200 - 50 *

7、 sin(anglea*3.1415926/180)-100* sin(angleb*3.1415926/180);/绘制杆3void CDrawRobotDlg:DrawRobotMemberBar3(float anglea, float angleb, float anglec)pDC-MoveTo(int(200 + 50 * cos(anglea*3.1415926/180)+100 * cos(angleb*3.1415926/180),int(200 - 50 * sin(anglea*3.1415926/180)-100* sin(angleb*3.1415926/180);p

8、DC-LineTo(int(200 + 50 * cos(anglea*3.1415926/180)+100 * cos(angleb*3.1415926/180)+50 * cos(anglec*3.1415926/180),int(200 - 50 * sin(anglea*3.1415926/180)-100* sin(angleb*3.1415926/180)-50* sin(anglec*3.1415926/180);/转动副a加减角度按钮代码void CDrawRobotDlg: OnButton 1() m_fanglea = m_fanglea + 1 ;UpdateData(

9、FALSE);Invalidate(FALSE) ;void CDrawRobotDlg:OnButton2() m_fanglea = m_fanglea - 1 ;UpdateData(FALSE);Invalidate(FALSE) ;/转动副b加减角度按钮代码void CDrawRobotDlg:OnButton3() m_fangleb = m_fangleb + 1 ;UpdateData(FALSE);Invalidate(FALSE) ;void CDrawRobotDlg:OnButton4() m_fangleb = m_fangleb - 1 ;UpdateData(FA

10、LSE);Invalidate(FALSE) ;/转动副c加减角度按钮代码void CDrawRobotDlg:OnButton5() m_fanglec = m_fanglec + 1 ;UpdateData(FALSE);Invalidate(FALSE) ;void CDrawRobotDlg:OnButton6() m_fanglec = m_fanglec - 1 ;UpdateData(FALSE);Invalidate(FALSE) ;/机械臂1启动按钮代码void CDrawRobotDlg:OnButton7() AfxBeginThread(MoveThreada, thi

11、s) ;/机械臂2启动按钮代码void CDrawRobotDlg:OnButton8() AfxBeginThread(MoveThreadb, this) ;/机械臂3启动按钮代码void CDrawRobotDlg:OnButton9() AfxBeginThread(MoveThreadc, this) ;/机械臂1旋转代码UINT CDrawRobotDlg:MoveThreada(void *parama)CDrawRobotDlg *pDlga = (CDrawRobotDlg*)parama ;while(1)pDlga-m_fanglea = pDlga-m_fanglea

12、+ 1 ;pDlga-Invalidate(FALSE) ;Sleep(100) ;return 0 ;/机械臂2旋转代码UINT CDrawRobotDlg:MoveThreadb(void *paramb)CDrawRobotDlg *pDlgb = (CDrawRobotDlg*)paramb ;while(1)pDlgb-m_fangleb = pDlgb-m_fangleb + 1 ;pDlgb-Invalidate(FALSE) ;Sleep(100) ;return 0 ;/机械臂3旋转代码UINT CDrawRobotDlg:MoveThreadc(void *paramc)C

13、DrawRobotDlg *pDlgc = (CDrawRobotDlg*)paramc ;while(1)pDlgc-m_fanglec = pDlgc-m_fanglec + 1 ;pDlgc-Invalidate(FALSE) ;Sleep(100) ;return 0 ;/更新按钮代码void CDrawRobotDlg:OnButtonRefresh0() UpdateData(TRUE);Invalidate(FALSE) ;软件界面截图与阐明界面左边为演示界面，右边为数据输入界面及运营按钮。绿色框：三自由度机械手运动仿真演示界面红色框：机械臂定位输入框及启动按钮黄色框：底座颜色及