针对水藻以及水浮莲等水生植物对水质污染所造成的生态环境破坏,基于多关节反向运动学,对小型机械打捞装置进行运动仿真.利用CAXA建立清藻机的三维模型,在文件优化和数据交换基础上,利用3ds max软件建立打捞装置各部件的层次链接,并基于多关节反向运动学进行运动仿真和轨迹分析,得到作业过程打捞装置的运动,包括IK链的位置轨迹和耙爪的运动轨迹.此方法适于机构运动轨迹的设计、编辑及优化等交互性强和实时性要求高的任务.%Water pollution caused by algae, water lettuce and other aquatic plants has led to environmental damage. The movement process of small mechanical devices is studied based on multi-joint inverse kinematics (IK). System's three dimensional modeling is established by using of the CAXA program. Based on the optimization and date exchange, the lever link of salvage device parts is established using 3ds max software. The IK algorithm is used in motion simulation and trajectory analysis. The movement of salvage device, position trajectory of IK chain and movement trajectory of harrow claw are obtained. The method is suitable for high interactivity and real-time applications such as movement trajectory design, motion editing and optimization.
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