Real-Time Simulation System of Virtual Picking Manipulator Based on Parametric Design

Aiming at the complexity of operation and control of the agricultural picking manipulator, a simulation system of the manipulator based on virtual design was developed. Firstly, the mechanism models and mathematical models of the manipulator were constructed. The simulation platform of virtual picking manipulator was developed. The designers can make parametric design of the manipulator real-timely; secondly, constraint and routing design for the motion trace of the virtual manipulator were made to realize real-time simulation of the manipulator; thirdly, the positive and inverse solutions of the kinematical equation of the manipulator was solved in the system, obtained from which the parameters were transferred to the motion node of the manipulator in the virtual scene to control its motion; finally, the visual and interactive dynamic simulation of the manipulator's operation behaviors and controls was realized. The results shows that the system is practical and can realize optimized design and motion control.