并联机器人数字孪生实验系统设计

Design of digital-twin experiment system for parallel robot

该文建立了Diamond并联机器人多学科数字孪生模型,并在此基础上设计了一种数字孪生实验系统。该系统由并联机器人本体、实时数字孪生控制器、实验系统上位机构成。数字孪生控制器基于NI myRIO构建,运行并联机器人机械本体数字孪生模型和控制器数字孪生模型,并通过运动控制接口板与机器人伺服电机驱动器连接。上位机通过LabVIEW开发,并通过与数字孪生控制器的通信实现数据采集并显示实时状态。数字孪生实验系统可工作于仿真运行或实物运行模式,通过虚实结合方式使实验不受设备、场地、时间的限制,增强了安全性,有助于提高学生的探索兴趣和工程实践能力。

This paper establishes a multidisciplinary digital twin model of the Diamond parallel robot,and designs a digital twin experimental system on this basis.The system consists of the parallel robot body,the real-time digital twin controller and the supervisory computer of the experiment system.The digital twin controller is built based on the NI myRIO,which runs the parallel robot body digital-twin model and the controller digital-twin model,and connected to the servo drivers of the robot through the motion control interface board.The supervisory computer is developed with the LabVIEW software,which communicates with the digital twin controller to realize data acquisition and real-time status display.The digital twin experimental system can work in the simulation operation or physical operation mode.Through the combination of virtual and real,the experiment is not limited by equipment,site and time,which enhances the safety and helps to improve students’exploration interest and engineering practice ability.