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1、機(jī)械手運(yùn)動(dòng)仿真實(shí)驗(yàn)報(bào)告機(jī)械手構(gòu)造構(gòu)成（簡圖）為機(jī)械手底座為機(jī)械臂1為機(jī)械臂2 為機(jī)械臂3a、b、c為轉(zhuǎn)動(dòng)副，機(jī)械臂實(shí)現(xiàn)3自由度運(yùn)動(dòng)機(jī)械手運(yùn)動(dòng)學(xué)方程推導(dǎo)繪圖框及轉(zhuǎn)動(dòng)副夾角：繪圖框大小為400X400 轉(zhuǎn)動(dòng)副a：anglea轉(zhuǎn)動(dòng)副b：angleb轉(zhuǎn)動(dòng)副c：anglec機(jī)械手運(yùn)動(dòng)范疇：機(jī)械臂1長度50，機(jī)械臂2長度100，機(jī)械臂3長度50。三個(gè)關(guān)節(jié)可實(shí)現(xiàn)360度旋轉(zhuǎn)。故機(jī)械臂運(yùn)動(dòng)范疇為以半徑為200旳圓內(nèi)。機(jī)械手底座：X：(150,200)Y：(250,200)機(jī)械臂1：X1：(200,200)Y1：(200+ 50 * cos(anglea*3.1415926/180), (200-50 * si

2、n(anglea*3.1415926/180) 機(jī)械臂2：X2：(200+ 50 * cos(anglea*3.1415926/180), (200-50* sin(anglea*3.1415926/180)Y2：(200 + 50 * cos(anglea*3.1415926/180)+100 * cos(angleb*3.1415926/180), (200 - 50 * sin(anglea*3.1415926/180)-100* sin(angleb*3.1415926/180)機(jī)械臂3：X3：(200 + 50 * cos(anglea*3.1415926/180)+100 * co

3、s(angleb*3.1415926/180), (200 - 50 * sin(angLea*3.1415926/180)-100* sin(angleb*3.1415926/180)Y3：( (200 + 50 * cos(anglea*3.1415926/180)+100 * cos(angleb*3.1415926/180)+50 * cos(anglec*3.1415926/180), (200 - 50 * sin(anglea*3.1415926/180)-100* sin(angleb*3.1415926/180)-50* sin(anglec*3.1415926/180)機(jī)械

4、手運(yùn)動(dòng)仿真程序編寫（核心函數(shù)代碼）pWnd-Invalidate();pWnd-UpdateWindow() ;pDC-Rectangle(0,0,400,400);DrawRobotBase();DrawRobotMemberBar1(m_fanglea);DrawRobotMemberBar2(m_fanglea, m_fangleb);DrawRobotMemberBar3(m_fanglea, m_fangleb, m_fanglec);/繪制底座及其顏色代碼void CDrawRobotDlg:DrawRobotBase()CPen SuiyiPen; SuiyiPen.Create

5、Pen(PS_SOLID,Wide,RGB(hong, lv, lan);CPen *oldPen;oldPen = pDC-SelectObject(&SuiyiPen);pDC-MoveTo(150,200);pDC-LineTo(250,200);pDC-SelectObject(oldPen);DeleteObject(SuiyiPen) ;/繪制桿1void CDrawRobotDlg:DrawRobotMemberBar1(float anglea)pDC-MoveTo(200,200);pDC-LineTo(int(200+ 50 * cos(anglea*3.1415926/1

6、80),int(200-50 * sin(anglea*3.1415926/180);/繪制桿2void CDrawRobotDlg:DrawRobotMemberBar2(float anglea,float angleb)pDC-MoveTo(int(200+ 50 * cos(anglea*3.1415926/180),int(200-50* sin(anglea*3.1415926/180);pDC-LineTo(int(200 + 50 * cos(anglea*3.1415926/180)+100 * cos(angleb*3.1415926/180),int(200 - 50 *

7、 sin(anglea*3.1415926/180)-100* sin(angleb*3.1415926/180);/繪制桿3void CDrawRobotDlg:DrawRobotMemberBar3(float anglea, float angleb, float anglec)pDC-MoveTo(int(200 + 50 * cos(anglea*3.1415926/180)+100 * cos(angleb*3.1415926/180),int(200 - 50 * sin(anglea*3.1415926/180)-100* sin(angleb*3.1415926/180);p

8、DC-LineTo(int(200 + 50 * cos(anglea*3.1415926/180)+100 * cos(angleb*3.1415926/180)+50 * cos(anglec*3.1415926/180),int(200 - 50 * sin(anglea*3.1415926/180)-100* sin(angleb*3.1415926/180)-50* sin(anglec*3.1415926/180);/轉(zhuǎn)動(dòng)副a加減角度按鈕代碼void CDrawRobotDlg: OnButton 1() m_fanglea = m_fanglea + 1 ;UpdateData(

9、FALSE);Invalidate(FALSE) ;void CDrawRobotDlg:OnButton2() m_fanglea = m_fanglea - 1 ;UpdateData(FALSE);Invalidate(FALSE) ;/轉(zhuǎn)動(dòng)副b加減角度按鈕代碼void CDrawRobotDlg:OnButton3() m_fangleb = m_fangleb + 1 ;UpdateData(FALSE);Invalidate(FALSE) ;void CDrawRobotDlg:OnButton4() m_fangleb = m_fangleb - 1 ;UpdateData(FA

10、LSE);Invalidate(FALSE) ;/轉(zhuǎn)動(dòng)副c加減角度按鈕代碼void CDrawRobotDlg:OnButton5() m_fanglec = m_fanglec + 1 ;UpdateData(FALSE);Invalidate(FALSE) ;void CDrawRobotDlg:OnButton6() m_fanglec = m_fanglec - 1 ;UpdateData(FALSE);Invalidate(FALSE) ;/機(jī)械臂1啟動(dòng)按鈕代碼void CDrawRobotDlg:OnButton7() AfxBeginThread(MoveThreada, thi

11、s) ;/機(jī)械臂2啟動(dòng)按鈕代碼void CDrawRobotDlg:OnButton8() AfxBeginThread(MoveThreadb, this) ;/機(jī)械臂3啟動(dòng)按鈕代碼void CDrawRobotDlg:OnButton9() AfxBeginThread(MoveThreadc, this) ;/機(jī)械臂1旋轉(zhuǎn)代碼UINT CDrawRobotDlg:MoveThreada(void *parama)CDrawRobotDlg *pDlga = (CDrawRobotDlg*)parama ;while(1)pDlga-m_fanglea = pDlga-m_fanglea

12、+ 1 ;pDlga-Invalidate(FALSE) ;Sleep(100) ;return 0 ;/機(jī)械臂2旋轉(zhuǎn)代碼UINT CDrawRobotDlg:MoveThreadb(void *paramb)CDrawRobotDlg *pDlgb = (CDrawRobotDlg*)paramb ;while(1)pDlgb-m_fangleb = pDlgb-m_fangleb + 1 ;pDlgb-Invalidate(FALSE) ;Sleep(100) ;return 0 ;/機(jī)械臂3旋轉(zhuǎn)代碼UINT CDrawRobotDlg:MoveThreadc(void *paramc)C

13、DrawRobotDlg *pDlgc = (CDrawRobotDlg*)paramc ;while(1)pDlgc-m_fanglec = pDlgc-m_fanglec + 1 ;pDlgc-Invalidate(FALSE) ;Sleep(100) ;return 0 ;/更新按鈕代碼void CDrawRobotDlg:OnButtonRefresh0() UpdateData(TRUE);Invalidate(FALSE) ;軟件界面截圖與闡明界面左邊為演示界面，右邊為數(shù)據(jù)輸入界面及運(yùn)營按鈕。綠色框：三自由度機(jī)械手運(yùn)動(dòng)仿真演示界面紅色框：機(jī)械臂定位輸入框及啟動(dòng)按鈕黃色框：底座顏色及

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