基于数字孪生的装配机器人建模及系统实现

Modeling and System Realization of Assembly Robot Based on Digital Twin

针对工业装配机器人复杂作业编程耗时耗力、准确性差等问题,提出一种基于数字孪生的机器人在线编程方法。从几何、接触动力学、行为、规则四个维度实现了机器人从真实向虚拟空间的忠实映射。实现了多零件装配轨迹规划程序验证,实时同步作业及状态监测。设计搭建了基于数字孪生的装配机器人建模与在线编程系统,以六轴工业机器人单元为例验证了系统的实用性和准确性,为复杂装配作业机器人编程提供了新方案。

Aiming at the problems of time-consuming,labor-intensive and poor accuracy in programming of complex operations of industrial assembly robots,an online programming method for robots based on digital twin is proposed.From the four dimensions of geometry,contact dynamics,behavior and rules,the faithful mapping of the robot from real to virtual space is realized.The verification of multi-part assembly trajectory planning program,real-time synchronous operation and state monitoring are realized.An assembly robot modeling and online programming system based on digital twin is designed and built.A six-axis industrial robot cell is taken as an example to verify the practicality and accuracy of the system,which provides a new solution for complex assembly robot programming.