数字孪生赋能机器人装配虚实同步研究

Virtual-real synchronization of robot assembly based on digital twin technology

针对传统的单点制造技术将设计和制造过程分离,产品的生产效率低,无法适应新一代制造设备信息化发展和网络扩展的问题,提出一种基于数字孪生的工业机器人虚实同步装配系统。设计搭建了软硬件平台,在数字孪生软件中建立一比一的物理模型,并设计了机器人模型的运动控制算法;构建了TCP/IP、OPC DA的网络通信方式,建立了数字孪生模型的驱动接口和外部通信信号一一映射关系;根据采集的数据,编写了相应的处理程序,完成模型位置标定,实现了工业机器人装配虚实同步。研究结果表明:该系统平均绝对值误差在0.4 mm以下,满足精度要求。

Traditional single-point manufacturing technologies separate the design and manufacturing processes,resulting in low production efficiency and an inability to adapt to the challenges posed by the digitalization of next-generation manufacturing equipment and network expansion.To address this issue,this paper proposes a virtual-real synchronous assembly system for industrial robots based on digital twin technology.This system involves designing and building a hardware and software platform,establishing a one-to-one physical model in the digital twin software,and the development of a motion control algorithm for the robot model.Network communication methods using TCP/IP and OPC DA are constructed to establish a one-to-one mapping relationship between the driving interface and external communication signals of the digital twin model.By analyzing the collected data,corresponding processing programs are written to complete model position calibration,achieving virtual-real synchronous assembly of industrial robots.The research results demonstrate that the system maintains an average absolute error of less than 0.4 mm,meeting the required accuracy requirements.