Digital Twinned Industrial Robot: Conceptual Framework, Key Technologies, and Case Study

doi:10.16182/j.issn1004731x.joss.25-0230

Abstract

Abstract:

To effectively enhance the value and full life cycle management level of industrial robots, this paper integrated deeply digital twin with industrial robots and discussed a new concept, namely digital twinned industrial robot (DTIR). It defined the concept, composition, and typical characteristics of DTIRs and proposed their system architecture. From the perspective of the full life cycle of "design, manufacturing, operation and maintenance, and decommissioning", the key technologies of DTIRs were systematically sorted out. Furthermore, the validity of the proposed conceptual framework was verified through a case study. Finally, the paper summarized the findings and discussed the future development trends of DTIRs.

Key words: digital twin, industrial robot, digital twinned industrial robot, full life cycle

CLC Number:

TP391

Liu Yongkui, Yang Kang, Tuo Benben, Pan Yaduo, Wang Xinyu, Wang Yihan, Gong Yongqian, Zhang Lin, Wang Lihui, Lin Tingyu, Zi Bin, Li Yuan, You Wei, Xu Xun. Digital Twinned Industrial Robot: Conceptual Framework, Key Technologies, and Case Study[J]. Journal of System Simulation, 2025, 37(7): 1723-1752.

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模型类型	功能	构建方法	具体应用
多层级装配模型	以机器人的本体构成分析为基础，用于指导其他模型(如三维几何模型、多领域耦合模型等)的装配	结构树、知识图谱等	装配方案生成、可视化展示、虚拟调试等
多领域耦合模型	能够实现工业机器人“机-电-控”多领域耦合的高保真仿真和分析，从而支撑DTIR相关服务功能的开发	多软件协同建模方法、基于高层体系结构的建模方法、基于统一建模语言的建模方法等	高保真仿真及分析、优化设计、预测性维护等
运动学模型	描述和分析工业机器人位置和运动的关系	D-H参数法、几何分析法、旋量方法等	位置控制、运动仿真、人机协作等
动力学模型	描述和分析工业机器人运动和力(力矩)的关系	牛顿-欧拉法、拉格朗日法等	前馈控制、碰撞检测、力控作业等
物理模型	基于物理建模的方法对工业机器人整机及核心零部件进行受力分析、疲劳分析、多物理场耦合分析等	解析建模方法、数值建模方法等	优化设计、预测性维护等
数据驱动模型	基于数据分析的方法对工业机器人采集的数据进行建模以反映其行为和性能等特性	统计模型、机器学习、深度学习等	优化设计、预测性维护等

关节	电机功率/W	伺服驱动器电流/A	最大速度/((˚)/s)	关节允许范围/(˚)	传动方式	减速器(减速比)	数据采集
J1	400	6	330	±170	减速器	谐波减速器(80)	振动、角度、速度、加速度、跟随误差、电机电流、母线电压、电机力矩、电机温度、编码器温度、整机系统电压、电流、能耗、环境温度等
J2	400	6	330	±110	减速器	谐波减速器(80)
J3	200	6	330	+30~-220	减速器+同步带	谐波减速器(80)
J4	400	3	260	±180	减速器+同步带	谐波减速器(50)
J5	400	3	420	±110	减速器+同步带	谐波减速器(100)
J6	400	3	500	±360	减速器	谐波减速器(100)