CAJ | 학술논문

提出一种面向关节型教育机器人的快速装配方法，对该装配方法所涉及关键技术问题进行了研究。以射线检测算法为基础，提出了一种能够应用于三维环境的鼠标拾取方法，修正了鼠标点击点与被拾取物体间的位置偏差问题。利用组成零件几何面的三角面片法线相同的特点，获取组成装配面的所有三角面片，实现了零件装配面的间接选取和高亮显示；根据零件关节装配特点，提出了一种关节孔快速匹配算法，实现了零件关节的快速匹配。最终该装配方法被应用到教育机器人三维仿真平台中并取得了较好的效果。
제출일충면향관절형교육궤기인적쾌속장배방법，대해장배방법소섭급관건기술문제진행료연구。이사선검측산법위기출，제출료일충능구응용우삼유배경적서표습취방법，수정료서표점격점여피습취물체간적위치편차문제。이용조성령건궤하면적삼각면편법선상동적특점，획취조성장배면적소유삼각면편，실현료령건장배면적간접선취화고량현시；근거령건관절장배특점，제출료일충관절공쾌속필배산법，실현료령건관절적쾌속필배。최종해장배방법피응용도교육궤기인삼유방진평태중병취득료교호적효과。
The fast assembly method for the modular educational robot is put forward and its key technology is studied .At first, the mouse picking methods in 3D scenes are built based on ray detection algorithm and the positional offset between the mouse point and picked object is corrected .Secondly, all triangle patch of assembly face is obtained based on characteristic that normal directions of assembly face is the same , and then assembly face is indirectly selected and highlighted display .Thirdly, the fast joint fitting method for the joint of parts is put forward on the basis of characteristic of parts assembly .At last, this fast assembly methods is applied to 3D simulation platform of educational robots and obtain a good results .