Behavior simulation of picking manipulator under virtual environment

To optimize the design of litchi picking manipulator,for the complexity and uncertainty of the picking manipulator behaviors under complex environment,a picking manipulator behavior simulation system has been developed by using VC++and EON SDK.The architecture of simulation system was given out through analyzing.More,the implementation process of the system was researched from several aspects as the picking manipulator's modeling and model optimization,model assembly of hierarchical structure,kinematics modeling,the build of picking environment,data conversion of 3D model,human-computer interaction and so on.Finally,behavior simulation such as Picking Manipulator's movement and picking in the virtual environment has been realized through event-driven mechanism in the simulation platform.