基于数字孪生的装配机器人建模及系统实现

doi:10.16182/j.issn1004731x.joss.22-0272

系统仿真学报 ›› 2023, Vol. 35 ›› Issue (7): 1497-1507.doi: 10.16182/j.issn1004731x.joss.22-0272

基于数字孪生的装配机器人建模及系统实现

徐健¹(), 宋鑫¹(), 刘秀平¹, 陈博¹, 闫焕营²

^1.西安工程大学电子信息学院，陕西西安 710048
^2.深圳罗博泰尔机器人技术有限公司，广东深圳 518109

收稿日期:2022-03-28 修回日期:2022-05-24 出版日期:2023-07-29 发布日期:2023-07-19
通讯作者: 宋鑫 E-mail:xu0910@sian.com;songxin96@126.com
作者简介:徐健(1963-)，男，教授，硕士，研究方向为数字孪生、人工智能。E-mail：xu0910@sian.com
基金资助:
陕西省科技厅项目(2018GY-173);西安市科技局项目(GXYD7.5)

Modeling and System Realization of Assembly Robot Based on Digital Twin

Jian Xu¹(), Xin Song¹(), Xiuping Liu¹, Bo Chen¹, Huanying Yan²

^1.School of Electronic Information, Xi'an Polytechnic University, Xi'an 710048, China
^2.Shenzhen Municipal Robotel Robot Technology Co. , Ltd, Shenzhen 518109, China

Received:2022-03-28 Revised:2022-05-24 Online:2023-07-29 Published:2023-07-19
Contact: Xin Song E-mail:xu0910@sian.com;songxin96@126.com

摘要/Abstract

摘要：

针对工业装配机器人复杂作业编程耗时耗力、准确性差等问题，提出一种基于数字孪生的机器人在线编程方法。从几何、接触动力学、行为、规则四个维度实现了机器人从真实向虚拟空间的忠实映射。实现了多零件装配轨迹规划程序验证，实时同步作业及状态监测。设计搭建了基于数字孪生的装配机器人建模与在线编程系统，以六轴工业机器人单元为例验证了系统的实用性和准确性，为复杂装配作业机器人编程提供了新方案。

关键词: 数字孪生, 数字孪生机器人, 装配, 轨迹规划, 虚拟仿真

Abstract:

Aiming at the problems of time-consuming, labor-intensive and poor accuracy in programming of complex operations of industrial assembly robots, an online programming method for robots based on digital twin is proposed. From the four dimensions of geometry, contact dynamics, behavior and rules, the faithful mapping of the robot from real to virtual space is realized. The verification of multi-part assembly trajectory planning program, real-time synchronous operation and state monitoring are realized. An assembly robot modeling and online programming system based on digital twin is designed and built. A six-axis industrial robot cell is taken as an example to verify the practicality and accuracy of the system, which provides a new solution for complex assembly robot programming.

Key words: digital twin, digital twin robot, assembly, track planning, virtual reality

中图分类号:

TP391.9

徐健, 宋鑫, 刘秀平, 陈博, 闫焕营. 基于数字孪生的装配机器人建模及系统实现[J]. 系统仿真学报, 2023, 35(7): 1497-1507.

Jian Xu, Xin Song, Xiuping Liu, Bo Chen, Huanying Yan. Modeling and System Realization of Assembly Robot Based on Digital Twin[J]. Journal of System Simulation, 2023, 35(7): 1497-1507.

图/表 10

图1

图2

图3

图4

图5

表1

表2

图6

图7

表3

参考文献 22

1	Wang Yue, Xiong Rong, Yu Hongsheng, et al. Perception of Demonstration for Automatic Programing of Robotic Assembly: Framework, Algorithm, and Validation[J]. IEEE/ASME Transactions on Mechatronics, 2018, 23(3): 1059-1070.
2	Olabi A, Damak M, Bearee R, et al. Improving the Accuracy of Industrial Robots by Offline Compensation of Joints Errors[C]//2012 IEEE International Conference on Industrial Technology. Piscataway, NJ, USA: IEEE, 2012: 492-497.
3	张霖, 陆涵. 从建模仿真看数字孪生[J]. 系统仿真学报, 2021, 33(5): 995-1007.
	Zhang Lin, Lu Han. Discussing Digital Twin from of Modeling and Simulation[J]. Journal of System Simulation, 2021, 33(5): 995-1007.
4	张冰, 李欣, 万欣欣. 从数字孪生到数字工程建模仿真迈入新时代[J]. 系统仿真学报, 2019, 31(3): 369-376.
	Zhang Bing, Li Xin, Wan Xinxin. From Digital Twin to Digital Engineering Modeling and Simulation Entering a New Era[J]. Journal of System Simulation, 2019, 31(3): 369-376.
5	Tao Fei, Zhang Meng, Liu Yushan, et al. Digital Twin Driven Prognostics and Health Management for Complex Equipment[J]. CIRP Annals, 2018, 67(1): 169-172.
6	Tao Fei, Zhang He, Liu Ang, et al. Digital Twin in Industry: State-of-the-art[J]. IEEE Transactions on Industrial Informatics, 2019, 15(4): 2405-2415.
7	Grieves M. Digital Twin: Manufacturing Excellence Through Virtual Factory Replication[EB/OL]. [2022-02-12]. .
8	陶飞, 刘蔚然, 张萌, 等. 数字孪生五维模型及十大领域应用[J]. 计算机集成制造系统, 2019, 25(1): 1-18.
	Tao Fei, Liu Weiran, Zhang Meng, et al. Five-dimension Digital Twin Model and Its Ten Applications[J]. Computer Integrated Manufacturing Systems, 2019, 25(1): 1-18.
9	侯正航, 何卫平. 基于数字孪生的飞机装配状态巡检机器人的建模与控制[J]. 计算机集成制造系统, 2021, 27(4): 981-989.
	Hou Zhenghang, He Weiping. Modeling and Control of Digital Twin-based Aircraft Assembly State Inspection Robot[J]. Computer Integrated Manufacturing Systems, 2021, 27(4): 981-989.
10	肖通, 江海凡, 丁国富, 等. 五轴磨床数字孪生建模与监控研究[J]. 系统仿真学报, 2021, 33(12): 2880-2890.
	Xiao Tong, Jiang Haifan, Ding Guofu, et al. Research on Digital Twin-based Modeling and Monitoring of Five-axis Grinder[J]. Journal of System Simulation, 2021, 33(12): 2880-2890.
11	李幸刚, 张亚萍, 杨雨薇. 一种基于邻域扩展聚类的去噪算法[J]. 系统仿真学报, 2017, 29(11): 2663-2669, 2677.
	Li Xinggang, Zhang Yaping, Yang Yuwei. Denoising Algorithm Based on Neighborhood Expansion Clustering[J]. Journal of System Simulation, 2017, 29(11): 2663-2669, 2677.
12	Tipary B, Erdős Gábor. Generic Development Methodology for Flexible Robotic Pick-and-place Workcells Based on Digital Twin[J]. Robotics and Computer-Integrated Manufacturing, 2021, 71: 102140.
13	Zhang Song. High-speed 3D Shape Measurement with Structured Light Methods: A review[J]. Optics and Lasers in Engineering, 2018, 106: 119-131.
14	李光, 付涛, 张天赐. 基于PCL库的矿场环境点云配准方法研究[J]. 机械设计, 2021, 38(增1): 174-177.
	Li Guang, Fu Tao, Zhang Tianci. Research on Point Cloud Registration Method of Mine Environment Based on PCL[J]. Journal of Machine Design, 2021, 38(S1): 174-177.
15	Haddadi A, Hashtrudi-Zaad K. Real-time Identification of Hunt-crossley Dynamic Models of Contact Environments[J]. IEEE Transactions on Robotics, 2012, 28(3): 555-566.
16	Li Xin, He Bin, Zhou Yanmin, et al. Multisource Model-driven Digital Twin System of Robotic Assembly[J]. IEEE Systems Journal, 2021, 15(1): 114-123.
17	周学广, 吕伟栋, 袁志民. 基于着色Petri网的舰艇指挥控制信息流建模研究[J]. 系统仿真学报, 2019, 31(5): 828-842.
	Zhou Xueguang, Weidong Lü, Yuan Zhimin. Colored Petri Net Based Modeling on Warship Command and Control Information Flow[J]. Journal of System Simulation, 2019, 31(5): 828-842.
18	孔庆艳, 袁杰, 郭俊辉. 自主式追踪机器人终端行为的Petri网建模[J]. 计算机应用研究, 2016, 33(11): 3303-3306.
	Kong Qingyan, Yuan Jie, Guo Junhui. Terminal Behavior Modeling for Autonomous Tracking Robots Using Petri Nets[J]. Application Research of Computers, 2016, 33(11): 3303-3306.
19	Lacevic B, Rocco P. Kinetostatic Danger Field-A Novel Safety Assessment for Human-Robot Interaction[C]//2010 IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, NJ, USA: IEEE, 2010: 2169-2174.
20	Lacevic B, Rocco P. Safety-oriented Control of Robotic Manipulators-a Kinematic Approach[J]. IFAC Proceedings Volumes, 2011, 44(1): 11508-11513.
21	杨艳芳, 贺焕, 舒亮, 等. 断路器柔性装配数字孪生机器人及其运动控制[J]. 计算机集成制造系统, 2020, 26(11): 2915-2926.
	Yang Yanfang, He Huan, Shu Liang, et al. Digital Twin Robot and Its Motion Control for Flexible Assembly of Circuit Breaker[J]. Computer Integrated Manufacturing Systems, 2020, 26(11): 2915-2926.
22	郭飞燕, 刘检华, 邹方, 等. 数字孪生驱动的装配工艺设计现状及关键实现技术研究[J]. 机械工程学报, 2019, 55(17): 110-132.
	Guo Feiyan, Liu Jianhua, Zou Fang, et al. Research on the State-of-art, Connotation and Key Implementation Technology of Assembly Process Planning with Digital Twin[J]. Journal of Mechanical Engineering, 2019, 55(17): 110-132.

库所	含义	库所	含义
P_A	接收任务	P₇	轨迹优化
P₀	分解任务	P₈	机器人动作
P₁	定位	P₉	发生故障
P₂	空间识别	P₁₀	末端机构动作
P₃	超出操作范围	P₁₁	空抓状态
P₄	位姿调整	P₁₂	停止操作
P₅	在可操作范围内	P₁₃	抓取状态
P₆	轨迹规划	P_B	初始待机状态

序号	路径长度/mm	是否到达	关键点/个
1	472.3	是	3
2	204.6	是	2
3	541.4	是	3
4	478.1	是	3
5	164.6	是	2
6	353.3	是	3
7	182.4	是	2
8	212.5	是	2
9	165.8	是	2
10	219.2	是	2

	装配行为轨迹				自由轨迹
关节	运动范围		误差范围		运动范围		误差范围
	最小值	最大值	最小值	最大值	最小值	最大值	最小值	最大值
Joint_1	-22.800	40.100	-0.138	0.122	-6.220	39.800	-0.131	0.148
Joint_2	-9.300	30.300	-0.092	0.077	-43.200	19.900	-0.112	0.125
Joint_3	-30.900	20.200	-0.092	0.097	-38.400	22.200	-0.139	0.155
Joint_4	-89.900	11.100	-0.232	0.277	-89.400	63.600	-0.255	0.282
Joint_5	-47.900	39.500	-0.185	0.155	-48.200	79.400	-0.282	0.216
Joint_6	-0.100	62.900	-0.270	0.232	-28.600	90.000	-0.212	0.226

[1]	方维, 许澍虹, 韩磊, 李张文驰. AR增强装配中的跟踪注册方法研究与应用进展[J]. 系统仿真学报, 2023, 35(7): 1438-1454.
[2]	陆涵, 张霖, 王昆玉, 黄泽军, 程鸿博, 崔晋. 装备数字孪生可信评估框架研究[J]. 系统仿真学报, 2023, 35(7): 1455-1471.
[3]	董泽, 姜炜, 王晓燕, 刘磊. 数字孪生在火电机组数字化转型中的应用[J]. 系统仿真学报, 2023, 35(6): 1144-1156.
[4]	张腾飞, 胡蓉, 钱斌, 吕阳. 学习型变邻域搜索算法求解运输-装配协同优化问题[J]. 系统仿真学报, 2023, 35(6): 1260-1277.
[5]	姚舜, 胡忠志, 曹文宇, 杨佳利. 沉浸式航空发动机视景系统的设计与实现[J]. 系统仿真学报, 2023, 35(6): 1395-1404.
[6]	陈佳昕, 周国辉, 杨建柏. 基于虚拟仿真方法的手部姿态数据集构建技术[J]. 系统仿真学报, 2023, 35(4): 862-870.
[7]	胡蓉, 丁帅, 钱斌, 张长胜. 超启发式三维EDA求解绿色双边装配线平衡问题[J]. 系统仿真学报, 2023, 35(3): 454-469.
[8]	刘红彬, 申志强, 王轶泽, 邱明, 林文荣. 数字孪生模型在轴承套圈磨削加工中的应用[J]. 系统仿真学报, 2023, 35(3): 557-567.
[9]	杨帆, 马萍, 李伟, 杨明. 数字孪生体可信度评估过程及指标研究[J]. 系统仿真学报, 2023, 35(2): 350-358.
[10]	李珍萍, 施莹, 吴凌云. 多约束混流线平衡与排序优化问题研究[J]. 系统仿真学报, 2023, 35(1): 27-40.
[11]	吴枫, 刘秀罗, 王佳, 刘阳, 李苏疆, 仲妍. 航天发射可视化仿真分析技术与应用研究[J]. 系统仿真学报, 2022, 34(4): 856-869.
[12]	李伯虎, 柴旭东, 张霖, 卿杜政, 施国强, 林廷宇, 郭丽琴, 杨晨, 谷牧, 贾政轩, 公慧, 唐震. 面向智慧物联网的新型嵌入式仿真技术研究[J]. 系统仿真学报, 2022, 34(3): 419-441.
[13]	吴定会, 张桐瑞, 张秀丽. 扰动累积下基于数字孪生的车间重调度[J]. 系统仿真学报, 2022, 34(3): 573-583.
[14]	邵绪强, 张浩伟, 冯小华. 面向电力变压器虚拟装配的多感官融合交互方法[J]. 系统仿真学报, 2022, 34(10): 2244-2254.
[15]	何必胜, 陈鹏, 张宏翔, 鲁工圆, 张春辉. 基于数字孪生的铁路客运站技术作业实时调度方法[J]. 系统仿真学报, 2022, 34(10): 2130-2141.

基于数字孪生的装配机器人建模及系统实现

Modeling and System Realization of Assembly Robot Based on Digital Twin

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

图/表 10

参考文献 22

相关文章 15

编辑推荐

Metrics

本文评价