Research on virtual synchronous motion of 6-DOF parallel robot based on Open Inventor
WANG Hai-tao1， HAO Kuang-rong1，2， DING Yong-sheng1，2， GUO Chong-bin1， DOU Yi-wen1
（1. College of Information Sciences and Technology， Donghua University， Shanghai 201620， China；
2. Engineering Research Center of Digitized Textile & Fashion Technology， Ministry of Education，
Shanghai 201620，China）

Abstract： Aiming at the monitoring of 6-DOF large load parallel robot，a virtual synchronous motion system of parallel robot was studied by using Open Inventor as developing platform. Firstly，accessory models were created using Pro/E，and imported into Open Inventor. The relation of accessory models was described through VRML language to build virtual robot. Then，composite measurement algorithm based on stereo vision and positional solution was designed to detect the position and orientation of parallel robot in real time. Finally，data of position and orientation was transmitted to virtual robot，the virtual synchronous motion was completed by Open Inventor with it's effective rendering function and engine component. The experiment result shows that the virtual synchronous motion is fluent and realistic，the most error of position and orientation measured is less than 0.05 mm，the delay which caused by measurement and calculation of position and orientation is less than 0.5 s. The system is not only available to general monitoring of parallel，but also offers an effective method for high-precision measurement of position and orientation of parallel robot.
Key words： Open Inventor；parallel robot；composite measurement of position；virtual synchronous motion