1，介绍

该示例使用的是 r95版本Three.js库。

主要实现功能：引入机械臂dae格式模型，模拟机械臂运动。效果图如下：

 2，动画主要说明

1，引入机械臂模型，附模型下载地址如下

2，使用Tween.js模拟实现动画

// 添加坊的模型
function initFang() {
	var loader = new THREE.ColladaLoader();
	loader.load('assets/models/abb_irb52_7_120.dae', function(collada) {
		dae = collada.scene;
		dae.traverse(function(child) {
			if (child.isMesh) {
				// model does not have normals
				child.material.flatShading = true;
			}
		});
		// dae.scale = 1000;
		dae.updateMatrix();

		kinematics = collada.kinematics;
		console.log(kinematics)
		scene.add(dae);
		setupTween();
	});
}

function setupTween() {
	const duration = THREE.Math.randInt(1000, 2000);
	const target = {};
	for (const prop in kinematics.joints) {
		if (kinematics.joints.hasOwnProperty(prop)) {
			if (!kinematics.joints[prop].static) {
				const joint = kinematics.joints[prop];
				const old = tweenParameters[prop];
				const position = old ? old : joint.zeroPosition;
				tweenParameters[prop] = position;
				target[prop] = THREE.Math.randInt(joint.limits.min, joint.limits.max);
			}
		}
	}
	kinematicsTween = new TWEEN.Tween(tweenParameters).to(target, duration).easing(TWEEN.Easing.Quadratic.Out);
	kinematicsTween.onUpdate(function(object) {
		for (const prop in kinematics.joints) {
			if (kinematics.joints.hasOwnProperty(prop)) {
				if (!kinematics.joints[prop].static) {
					kinematics.setJointValue(prop, this[prop]);
				}
			}
		}
	});

	kinematicsTween.start();
	setTimeout(setupTween, duration);
}

Threejs模型，机械臂模型，dae格式模型-Javascript文档类资源-CSDN文库https://download.csdn.net/download/baidu_29701003/85335014

 在线预览：左本的博客 (zuoben.top)