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

作　　者：崔亚飞 车艳秋[1] CUI Yafei;CHE Yanqiu(School of Automation and Electrical Engineering,Tianjin University of Technology and Education,Tianjing 300222,China;School of Intelligent Manufacturing and Building Engineering,Yongzhou Vocational Technical College,Yongzhou 425100,China)

机构地区：[1]天津职业技术师范大学自动化与电气工程学院,天津300222 [2]永州职业技术学院智能制造与建筑工程学院,永州425100

出　　处：《天津职业技术师范大学学报》2024年第3期9-14,共6页Journal of Tianjin University of Technology and Education

基　　金：湖南省社会科学成果评审委员会课题(XSP24YBC484).

摘　　要：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.

关 键 词：数字孪生 工业机器人 虚实同步 机器人装配 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]