六自由度机械臂数字孪生体研究  

Research on Digital Twin of Six Degrees of Freedom Manipulator

作　　者：蒋鑫 黄明 张舒 黄小杰 臧福星 马家亮 Jiang Xin;Huang Ming;Zhang Shu

机构地区：[1]江苏理工学院机械工程学院,常州213001

出　　处：《装备机械》2024年第4期18-24,38,共8页The Magazine on Equipment Machinery

基　　金：国家自然科学基金资助项目(编号:51905235);江苏理工学院研究生实践创新计划项目(编号:XSJCX22_32)。

摘　　要：对六自由度机械臂数字孪生体进行设计,使用机器学习建立各个关节的代理模型,结合静力学模型完成六自由度机械臂内部零件之间力的传递,最终得到六自由度机械臂数字孪生体。采用数字孪生体进行试验,并与ANSYS软件有限元静力学试验、瞬态动力学试验进行对比,确认数字孪生体能够在满足计算需求的前提下,极大提高运算速率。A digital twin of the six degrees of freedom manipulator was designed.The surrogate model of each joint was established by using machine learning,and the force transmission between the internal parts of the six degrees of freedom manipulator was completed by combining the static model.Finally,the digital twin of the six degrees of freedom manipulator was obtained.The digital twin was used for test,and compared with the finite element static test and transient dynamic test of ANSYS software.It was confirmed that the digital twin can greatly improve the operation rate under the premise of meeting the calculation requirement.

关 键 词：机械臂 数字孪生体 研究 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]