Digital Twin Modeling and Control of Robots for Intelligent Manufacturing Scenarios

doi:10.16182/j.issn1004731x.joss.23-0481

Abstract

Abstract:

The introduction of Industry 4.0 and the Made in China 2025 development policy has accelerated the transformation of the manufacturing industry from automation to intelligence. Industrial robots, as the representative equipment of intelligent manufacturing, will also become more intelligent. Based on digital twin technology, digital modeling, and simulation debugging are conducted for such problems as interference and collision, tedious operation, and low efficiency of industrial robot spot welding debugging in production. Process Simulate from TECNOMATIX software is utilized to digitally model the robot spot welding station and define its motion, and TIA Portal and S7-PLCSIM Advanced are applied to build a virtual simulation and commissioning environment to realize multi-robot cooperative work at the processing station controlled by an external virtual PLC. The simulation results show that the robot can reach all working points during the motion and the joint speed is always kept within a reasonable range, which meets the requirements of safety and stability in the actual production process. At the same time, the robot spot welding station simulation by digital twin technology can find product defects in time, shorten the debugging cycle, and reduce the cost.

Key words: digital twin, virtual commissioning, Tecnomatix, TIA, simulations

CLC Number:

TP391.9

Li Ying, Gao Lan, Zhu Zhisong. Digital Twin Modeling and Control of Robots for Intelligent Manufacturing Scenarios[J]. Journal of System Simulation, 2024, 36(7): 1536-1545.

Figures/Tables 15

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Table 1

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信号名称	信号类型	信号地址	IEC标准信号地址	外部链接	关联资源
clamps12_mtp_OPN	Bool	0.4	Q0.4	test_advanced	clamps12
clamps12_mtp_CLS	Bool	0.5	Q0.5	test_advanced	clamps12
clamps12_at_OPN	Bool	0.4	I0.4	test_advanced	clamps12
clamps12_at_CLS	Bool	0.5	I0.5	test_advanced	clamps12
turntable11_HME	Bool	1.0	I1.0	test_advanced	turntable11
turntable11_FWD	Bool	1.1	I1.1	test_advanced	turntable11
kr2210_rob1_startProgram	Bool	5.0	Q5.0	test_advanced	kr2210_rob1
kr2210_rob1_programNumber	Bool	No Address		test_advanced	kr2210_rob1

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