Digital Twin Implementation of Autonomous Planning Arc Welding Robot System  

作　　者：Xuewu Wang Yi Hua Jin Gao Zongjie Lin Rui Yu 

机构地区：[1]School of Information Science and Engineering,East China University of Science and Technology,Shanghai 200237,China [2]Institute for Sustainable Manufacturing,and also with the Department of Electrical and Computer Engineering,University of Kentucky,Lexington,KY 40506,USA

出　　处：《Complex System Modeling and Simulation》2023年第3期236-251,共16页复杂系统建模与仿真（英文）

基　　金：This work was supported by the National Natural Science Foundation of China(Nos.62076095 and 61973120);National Key Research and Development Program(No.2022YFB4602104).

摘　　要：Industrial robots are currently applied for ship sub-assembly welding to replace welding workers because of the intelligent production and cost savings.In order to improve the efficiency of the robot system,a digital twin system of welding path planning for the arc welding robot in ship sub-assembly welding is proposed in this manuscript to achieve autonomous planning and generation of the welding path.First,a five-dimensional digital twin model of the dual arc welding robot system is constructed.Then,the system kinematics analysis and calibration are studied for communication realization between the virtual and the actual system.Besides,a topology consisting of three bounding volume hierarchies(BVH)trees is proposed to construct digital twin virtual entities in this system.Based on this topology,algorithms for welding seam extraction and collision detection are presented.Finally,the genetic algorithm and the RRT-Connect algorithm combined with region partitioning(RRT-Connect-RP)are applied for the welding sequence global planning and local jump path planning,respectively.The digital twin system and its path planning application are tested in the actual application scenario.The results show that the system can not only simulate the actual welding operation of the arc welding robot but also realize path planning and real-time control of the robot.

关 键 词：arc welding robot digital twin TOPOLOGY path planning 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP3[自动化与计算机技术—控制科学与工程]