標(biāo)題: solidworks插件簡介：Gazebo [打印本頁] 作者: 寂靜天花板 時間: 2015-5-11 22:39 標(biāo)題: solidworks插件簡介：Gazebo Gazebo是一個三維多機器人動力學(xué)仿真平臺，它能夠模擬復(fù)雜和現(xiàn)實的環(huán)境中關(guān)節(jié)型機器人。 * O/ D h- Q( U2 H5 s [5 w[attach]352932[/attach] / M) K+ I" M$ O& B* T% s, ?" j' eGazebo for solidworks是一個將solidworks機器人模型，轉(zhuǎn)換為Gabezo平臺能識別的機器人模型的插件。- U3 M; I# W/ M2 Z/ n% T- C: q
在solidworks中打開需要轉(zhuǎn)換的機器人模型$ s9 w* C% ^! w2 `
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- J" r( X* M) W5 w, u vCollision models should be created for each link in the robot. These models should have simpler geometry and only keep the important features of the link they represent in order to not slow down the simulations. Once the collision models are created, they should be inserted into the assembly and put into a second configuration. ! I: g, m. a6 s; ^4 ^[attach]352934[/attach]3 H' c5 }3 E) X' k
; u& h8 k; M* ?. ~0 y/ c7 P1 a0 z啟用Gazebo工具條上的joint editor) {, o7 |5 `4 O3 y# U
[attach]352935[/attach] , m9 @+ q$ k$ e3 R0 } , L8 q( T) P7 T! a1 L3 t. a打開edit link屬性管理器. Click on any link in the window to select that link. To add a sub-Link, click on the plus button. Click the minus button to delete the selected link, and all of its sub links. You can also rename the selected link in the Link Name box just below the tree. + q" {* B- V) L$ k9 O' o[attach]352936[/attach] - N; u6 ^) r' d7 _ _9 }* p# W+ T& K$ j2 d+ Z3 |
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添加模型到link : b3 M5 E" b) g7 K- D |$ @- H8 s+ i[attach]352938[/attach] $ c! F# I& |1 p% v* x! h6 i5 D1 M8 d
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設(shè)置關(guān)節(jié)類型. F2 S |3 F. p) W9 Y7 G" R
[attach]352940[/attach] ( v- E/ V1 O( O7 f & u" u" _+ M( n, E a' O7 j6 v設(shè)置關(guān)節(jié)軸線 3 y: ~& g/ x2 Q: e[attach]352941[/attach]1 Q8 h6 z4 N& G7 E6 k
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打開manager robot窗口: c+ d+ z1 I/ ^% p
[attach]352946[/attach] . F$ O. x$ n6 u) V; c; k* L. x ( X9 S: |) y; K, A. X命名機器人模型( ^9 ]) C' |0 r0 {
[attach]352947[/attach] 6 x# L! l5 p* _" V , b& C; h5 J( q/ O+ K# p! |. i, k" h輸出模型% R6 @# C) k* Z! B- N% Y
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