Modular dynamic virtual-reality modeling of robotic systems

摘要

This article presents the results of research into the field of dynamic simulation of mechanical and robotic systems. The main goal of the whole project is to achieve an efficient modular approach to modeling, in order to make the modeling process easier, ensure its traceability and inspectability, and support model reuse. This is achieved through the declarative definition of models, the standardization of model interfaces, and the object-oriented approach to model development and model data management. The article presents the specific features ofa general-purpose simulation environment, including an overview of the 3D solid modeling software interfaces. The modeling and simulation of a 3-DOF gripper designed for Space robotics applications is also discussed to show the performance of the whole simulation environment in terms of complexity management, efficiency, and accuracy.