数字孪生的气动机械手系统设计  

Pneumatic Manipulator System Design Based on Digital Twins

作　　者：王现龙 张萌[1] 李波[1] WANG Xianlong;ZHANG Meng;LI Bo(School of Mechanical and Electronic Information,China University of Geosciences,Wuhan,Hubei 430074)

机构地区：[1]中国地质大学(武汉)机械与电子信息学院,湖北武汉430074

出　　处：《液压与气动》2025年第4期11-21,共11页Chinese Hydraulics & Pneumatics

基　　金：国家重点研发计划(2023YFC2813104)。

摘　　要：在气动机械手系统中引入基于数字孪生的建模方法,以实现气动机械手的仿真、控制以及监测,并为初学者提供更为直观地教学演示。采用Unity 3D平台配置孪生环境,创建物理实体的数字孪生体模型,使之建立通讯,实现运动状态和数据的实时更新,从而准确地实现孪生体模型的映射,对气动机械手采用多种控制方式。在ANSYS Workbench瞬态结构中对气动机械手夹持立方体的运动状态进行分析;在Unity 3D中对其结果进行二次开发,显示分析结果的梯度云图,为初学者提供直观的可视化模型。研究呈现了气动机械手运动仿真、虚实状态同步以及有限元分析二次开发的数字孪生系统。This study introduces a modeling method based on digital twins in pneumatic manipulator systems to achieve simulation,control,and monitoring of pneumatic manipulators,and provide more intuitive teaching demonstrations for beginners.Using the Unity 3D platform to configure the twin environment,create a digital twins model of physical entities,establish communication,and achieve real-time updates of motion status and data,thereby accurately mapping the twin model.Multiple control methods are adopted for the pneumatic manipulator.Analyze the motion state of the pneumatic manipulator gripping a cube in ANSYS Workbench transient structure;Perform secondary development on its results in Unity 3D,display gradient cloud maps of the analysis results,and provide intuitive visualization models for beginners.The research presents a digital twins system for motion simulation of pneumatic robotic arms,synchronization of virtual and real states,and secondary development of finite element analysis.

关 键 词：数字孪生 气动机械手 Unity 3D 有限元分析 

分 类 号：TH138[机械工程—机械制造及自动化] TP391[自动化与计算机技术—计算机应用技术]