基于数字孪生的玻璃幕墙注胶机器人检测控制系统  

Digital Twin Based Inspection and Control System for Glass Curtain Wall Glue Injection Robot

作　　者：黄伟 黄飞扬 雷佳豪 肖阳 吴文强[1] 萧仲敏[1] Huang Wei;Huang Feiyang;Lei Jiahao;Xiao Yang;Wu Wenqiang;Xiao Zhongmin(School of Mechanical and Electrical Engineering,Guangzhou University,Guangzhou 510006,China)

机构地区：[1]广州大学机械与电气工程学院,广州510006

出　　处：《机电工程技术》2025年第5期74-79,183,共7页Mechanical & Electrical Engineering Technology

基　　金：大学生创新创业训练项目(202311078026);广州大学2023年度校级探索性实验建设项目(SJ202302)。

摘　　要：为解决玻璃幕墙注胶行业在生产加工过程中面临的困难,如成本高、效率低和难以实现全面智能化和自动化等问题,设计并研发了一种基于数字孪生的玻璃幕墙注胶机器人检测控制系统。首先,使用建模软件SolidWorks建立了注胶机器人的仿真模型,并搭建仿真实体机器人。接着,通过虚拟机器人运动仿真平台CoppeliaSim构建虚拟场景,实现了机器人注胶过程的运动仿真,并进行机器人运动控制与检验。在此过程中,利用Visual Studio 2022设计了人机交互界面和基于C#的串口通信模块,以实现界面、仿真平台和机器人的有效通信,达到虚拟模型与注胶机器人的动态实时交互的目的。在系统控制检测方面,对机器人进行了正逆运动学分析,结合包围盒算法和GJK算法实现了机器人碰撞检测。实验结果表明,注胶机器人能够有效响应控制指令,响应延迟小于200 ms,界面能够实时显示运动参数,参数误差小于5%,动态交互成功实现。该系统为玻璃幕墙注胶行业提供了技术支持与解决方案,有效提升了生产效率并降低了成本。To solve the difficulties faced by glass curtain wall glue injection industry in the production and processing process,such as high cost,low efficiency,and difficulty in achieving comprehensive intelligence and automation,a digital twin based glass curtain wall glue injection robot detection and control system is designed and developed.Firstly,a simulation model of the glue injection robot is established using the modeling software SolidWorks,and a simulated physical robot is built.Next,a virtual scene is constructed using the CoppeliaSim virtual robot motion simulation platform to achieve motion simulation of the robot glue injection process,and robot motion control and inspection are carried out.During this process,a human-computer interaction interface and a C#based serial communication module are designed using Visual Studio 2022 to achieve effective communication among the interface,simulation platform,and robot,achieving the goal of dynamic real-time interaction between the virtual model and the injection robot.In terms of system control detection,forward and inverse kinematics analysis are conducted on the robot,and combined the bounding box algorithm and GJK algorithm to achieve robot collision detection.The experimental results show that the glue injection robot can effectively respond to control instructions with a response delay of less than 200 ms.The interface can display motion parameters in real time with a parameter error of less than 5%,and dynamic interaction is successfully achieved.This system provides technical support and solutions for the glass curtain wall adhesive industry,effectively improving production efficiency and reducing costs.

关 键 词：数字孪生 CoppeliaSim 动态实时交互 玻璃幕墙注胶机器人 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]