数字孪生车间机器人虚实驱动系统构建方法  

Construction Method of Virtual-real Drive Systems for Robots in Digital Twin Workshops

作　　者：刘怀兰[1] 赵文杰 李世壮 岳鹏 马宝瑞 LIU Huailan;ZHAO Wenjie;LI Shizhuang;YUE Peng;MA Baorui(School of Mechanical Science&Engineering,Huazhong University of Science and Technology,Wuhan,430074)

机构地区：[1]华中科技大学机械科学与工程学院,武汉430074

出　　处：《中国机械工程》2022年第21期2623-2632,共10页China Mechanical Engineering

基　　金：国家重点研发计划(2018YFB1701003)。

摘　　要：针对目前数字孪生车间构建中工业机器人等虚拟实体建模复杂、开发周期长等问题,提出了一种数字孪生车间工业机器人虚实驱动系统的模块化构建方法,即将虚实驱动系统分为设置模型参数的交互层和按功能需求设计配置的控制层,然后将实体工业机器人等抽象为单功能原子模型耦合而成的仿真模型。模块化分层构建虚实驱动系统的方法能快速有效地实现工业机器人等数字孪生虚拟实体的建模,以及工业机器人在虚拟空间中的仿真运行模拟和虚实同步运行。For the current problems for complex modeling and long development cycle of virtual entities such as industrial robots in digital twin workshop construction,a modular construction method of virtual-real drive systems for industrial robots in digital twin workshops was proposed,which divided the virtual-real drive systems into an interaction layer for setting model parameters and a control layer for designing configurations according to functional requirements,and then abstracted the physical industrial robots,etc.into a simulation model from coupling single functional atomic model.The modular and hierarchical approach to building virtual-reality drive systems may quickly and effectively realize the modeling of digital twin virtual entities such as industrial robots,as well as the simulation of industrial robots operating in virtual space and the simultaneous operation of virtual-reality.

关 键 词：数字孪生车间 虚实驱动 工业机器人运动仿真 机器人操作系统 

分 类 号：TH18[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]