基于动力学的张拉整体柔性臂数字孪生系统  

Dynamic Based Digital Twin System for Tensegrity Flexible Manipulator

作　　者：王智文 杨浩 李飞 彭海军[1] Wang Zhiwen;Yang Hao;Li Fei;Peng Haijun(Dalian University of Technology,Department of Engineering Mechanics,State Key Laboratory of Structural Analysis,Optimization and CAE Software for lndustrial Equipment,Dalian 116081,China)

机构地区：[1]大连理工大学工程力学系,工业装备结构分析优化与CAE软件全国重点实验室,大连116024

出　　处：《动力学与控制学报》2023年第12期70-78,共9页Journal of Dynamics and Control

基　　金：国家自然科学基金资助项目(U2241263);中国博士后科学基金资助项目(2022TQ0052,2022M710586)。

摘　　要：连续型机器人因其具有柔顺大变形、灵巧运动等特点,已成为未来提升机器人安全性和交互性的发展趋势,而数字孪生是实现机器人-环境-人之间共融共存的重要技术保障.本文以张拉整体连续型柔性臂为研究对象,结合数字孪生和虚拟仿真等技术,让张拉整体柔性臂在虚拟空间和实际物理空间中得以深度融合.搭建数据通讯架构实现数据实时传输和驱动,以提升柔性臂与人的协同工作效率,并可在复杂的环境中通过碰撞检测反馈实现动态避障.进一步,开发了一款基于动力学的张拉整体柔性臂数字孪生系统,并通过虚实双向操控验证了所建系统的有效性,为机器人远程智能监测与控制提供了参考.Continuum robots,due to their characteristics of flexible and large deformations,as well as dexterous mobility,have become a development trend for enhancing safety and interactivity of robots in the future.Digital twin is an important technical support to achieve coexistence and integration among robots,environments and humans.This article focuses on the research of tensegrity flexible manipulator and combines technologies such as digital twin and virtual simulation to enable deep integration of the tensegrity manipulator in virtual and physical spaces.A data communication architecture is established to achieve real-time data transmission,thereby enhancing the collaborative efficiency between the flexible manipulator and humans.Moreover,dynamic obstacle avoidance in complex environments is considered through collision detection feedback.Furthermore,a tensegrity flexible manipulator digital twin system based on dynamics is developed,and the effectiveness of the constructed system is verified by the experiments on bidirectional control of the tensegrity manipulator between virtual and physical domains.This research provides a reference for remote intelligent monitoring and control of other robots.

关 键 词：张拉整体 柔性臂 数字孪生 数据驱动 远程监控 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]