機械手運動仿真實驗報告一、機械手結(jié)構(gòu)組成（簡圖）①為機械手底座②為機械臂1③為機械臂2④為機械臂3a、b、c為轉(zhuǎn)動副，機械臂實現(xiàn)3自由度運動二、機械手運動學方程推導繪圖框及轉(zhuǎn)動副夾角：繪圖框大小為400X400轉(zhuǎn)動副a:ang1ea轉(zhuǎn)動副b：ang1eb轉(zhuǎn)動副c：anglec機械手運動范圍：機械臂1長度50,機械臂2長度100,機械臂3長度50。三個關(guān)節(jié)可實現(xiàn)360度旋轉(zhuǎn)。故機械臂運動范圍為以半徑為200的圓內(nèi)。五、感悟通過本次實驗，我學會了在運動學方程分析的基礎(chǔ)之上，采用VC6.0編寫多自由度機械手運動仿真程序，通過機械手有關(guān)的結(jié)構(gòu)尺寸進行參數(shù)化，建立機械手運動學方程，擬定機械手運動范圍。在編寫運動仿真程序代碼的過程中，不僅溫習自己的所學知識,還培養(yǎng)了自己嚴謹?shù)膽B(tài)度，極大的啟發(fā)了設(shè)計創(chuàng)新思維，調(diào)動學習積極性。同時也讓我看到了自己的局限性之處，以后還需要更勤奮的學習，注重實際的運用。機械手底座：X：(150,200)Y：(250,200)機械臂1：Xi：(200,200)Y1：((200+50*cos(anglea*3.141592)180)),(200-50*sin(ang1ea*3.141592^180)))機械臂2:X2：((200+50*cos(ang1ea*3.141592%180)),(200-50*sin(anglea*3.141592^180)))Y2：((200+50*cos(anglea*3.1415926/180)+100*cos(angIeb*3.1415926/180)),(200-50*sin(anglea*3.1415926/180)-100*sin(angleb*3.141592^180)))機械臂3：X3：((200+50*cos(anglea*3.141592&180)+100*cos(ang1eb*3.1415926/180)),(200-50*sin(angLea*3.1415926/180)-100*sin(angleb*3.141592^180)))Y3：((200+50*cos(anglea*3.1415926/180)+100?cos(angIeb*3.141592^180)+50*cos(anglec*3.1415926/180)),(200-50*sin(anglea*3.141592^/180)-100*sin(angleb*3.1415926/180)-50*sin(anglec*3.1415926/180)))三、機械手運動仿真程序編寫（關(guān)鍵函數(shù)代碼）pWnd->lnvalidate();pWnd—>UpdateWindow();pDC->Rectangle。。,400,400)；DrawRobotBase();DrawRobotMemberBarl(m_fanglea)；DrawRobotMemberBar2(m_fanglea,m_fang1eb)；DrawRobotMemberBar3(m_fanglea,m_fangleb,m_fanglec);〃繪制底座及其顏色代碼voidCDrawRobotDIg::DrawRobotBase(){。CPenSuiyiPen;SuiyiPen.CreatePen(PS_SOLID,WjdezRGB(hong,1v,1an))；CPen*oldPen;。oIdPen=pDC->SelectObject(&SuiyiPen);pDC->MoveTo(150,200)；pDC->LineTo(250,200);pDC->SelectObjectfo1dPen);De1eteObject(SuiyiPen);)〃繪制桿1voidCDrawRobotDlg::DrawRobotMemberBarl(f1oatanglea)叩DC->MoveTo(200,200);opDC->LineTo(int(200+50*cos(anglea*3.141592^180)),int(200-50*sin(anglea*3.141592%180)));)//繪制桿2voidCDrawRobotDIg：:DrawRobotMemberBar2(floatangIeaJloatangleb){。pDC—>MoveTo(int(200+50*cos(ang1ea*3.141592J180))Jnt(200-50*sin(anglea*3.1415926/180)));opDC->LineTo(int(200+50*cos(ang1ea*3.1415926/180)+100*cos(angIeb*3.1415926/180)),int(200-50*sin(angIea*3.1415926/180)-100*sin(angleb*3.141592180)))；)〃繪制桿3voidCDrawRobotD1g::DrawRobotMemberBar3(floatanglea,floatangleb,f1oatanglec)(pDC->MoveTo(int(200+50*cos(anglea*3.141592^180)+100*cos(angleb*3.1415926/180))Jnt(200-50*sin(anglea*3.141592^/180)-100*sin(angleb*3.1415926/180)));pDC->LineTo(int(200+50*cos(angIea*3.1415925/180)+100*cos(angleb火3.1415926/130)+50*cos(ang1ec*3.141592&180)),int(200—50*sin(anglea*3.141592%180)-100*sin(angleb*3.141592&180)-50*sin(anglec*3.1415926/180)))；)〃轉(zhuǎn)動副a加減角度按鈕代碼voidCDrawRobotDlg：:OnButton1()(。m_fang1ea=m_fang1ea+1；UpdateData(FALSE);。Inva1idatefFALSE);)voidCDrawRobotDIg：:OnButton2()(m_fanglea=m_fang1ea-1;UpdateData(FALSE);InvalidatefFALSE);}//轉(zhuǎn)動副b加減角度按鈕代碼voidCDrawRobotDig：:OnButton3()m_fangleb=m_fangleb+1；?UpdateData(FALSE)；。Invalidate(FALSE);}voidCDrawRobotDIg::0nButton4()(m_fangleb=m_fang1eb-1;。UpdateData(FALSE);Invalidate(FALSE);)//轉(zhuǎn)動副c加減角度按鈕代碼voidCDrawRobotDlg：：OnButton5()(。m_fanglec=m_fanglec+1;。UpdateDatafFALSE);Invalidate(FALSE)；)voidCDrawRobotDIg:：0nButton6(){。m_fang1ec=m_fang1ec-1;?UpdateData(FALSE);Invalidate(FALSE)；//機械臂1啟動按鈕代碼voidCDrawRobotDIg::OnButton7()。AfxBeginThread(MoveThreada,this);}〃機械臂2啟動按鈕代碼voidCDrawRobotDIg:：OnButton8(){。AfxBeginThread(MoveThreadb,this);)//機械臂3啟動按鈕代碼voidCDrawRobotD1g：:OnButton9(){AfxBeginThread(MoveThreadc,this);)〃機械臂1旋轉(zhuǎn)代碼UINTCDrawRobotDig：：MoveThreada(void*parama)(◎CDrawRobotDIg*pDIga=(CDrawRobotDig*)parama；while(1)。{。pDIga->m_fanglea=pD1ga->m_fanglea+1；opDIga->lnvalidate(FALSE);。51eep(100);。return0;}〃機械臂2旋轉(zhuǎn)代碼UINTCDrawRobotDlg::MoveThreadb(void*paramb)(CDrawRobotDIg*pDlgb=(CDrawRobotDlg*)paramb;。whiIe(1)。opDlgb->m_fang1eb=pDlgb->m_fangleb+1;。pDlgb->lnvalidate(FALSE);。Sleep(100);°}。return0;)//機械臂3旋轉(zhuǎn)代碼UINTCDrawRobotD1g::MoveThreadc(void*paramc){CDrawRobotDIg*pD1gc=(CDrawRobotD1g*Jparamc;。while(l)°(oopDIgc->m_fanglec=pDlgc->m_fang1ec+1;。pDlgc->