基于数字孪生的多关节机器人实验平台搭建方法  

Method for setting up experimental platform of multi-joint robot based on digital twinning

作　　者：曹小华[1] 彭帅宇 CAO Xiaohua;PENG Shuaiyu(School of Transportation and Logistics Engineering,Wuhan University of Technology,Wuhan 430063,China)

机构地区：[1]武汉理工大学交通与物流工程学院,湖北武汉430063

出　　处：《实验室科学》2023年第3期73-75,79,共4页Laboratory Science

基　　金：湖北省教研项目(项目编号:2020152)。

摘　　要：在美国工业互联网、德国工业4.0以及中国制造2025的大背景下,实现物理空间与虚拟空间之间的数据互联互通以及智能控制成为了世界前沿技术发展的焦点,数字孪生被包含其中。利用数字孪生搭建实验平台有其独有的优势,实现实验过程在虚拟端数字化的显示,其实验过程以及相应的细节能在虚拟端更加方便直观地观察测量。基于数字孪生的实验优势,提出一种采用数字孪生搭建实验平台的方法。以多关节机器人为实例搭建实验平台,机器人运动控制系统以及其上位机作为实物,用Unity3D构建机器人实物映射的虚拟模型,再通过使用Socket通讯接口作为虚实的数据接口,以实现搭建虚实同步以及远程控制的数字孪生实验平台的目的。In the context of American Industrial Internet,German Industry 4.0 and Made in China 2025,the realization of data interconnection and intelligent control between physical space and virtual space has become the focus of the world s cutting-edge technology development,including digital twin.Using digital twin to build an experimental platform has its own unique advantages.The actual experimental process can be digitally displayed at the virtual end,and the experimental process and corresponding details can be observed and measured more conveniently and intuitively at the virtual end.Based on the experimental advantages of digital twinning,this paper proposes a method of using digital twinning to build an experimental platform.The multi-joint robot is taken as an example to build an experimental platform,and the robot motion control system and its upper computer are taken as the physical object.Unity3D is used to build the virtual model of robot physical mapping,and the Socket communication interface is used as the virtual and real data interface to realize the virtual and real synchronization and remote control function of digital twin experiment platform.

关 键 词：数字孪生 实验平台 UNITY3D SOCKET通讯 

分 类 号：TP391.7[自动化与计算机技术—计算机应用技术]