Modeling and System Realization of Assembly Robot Based on Digital Twin

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

Abstract

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

CLC Number:

TP391.9

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.

Figures/Tables 10

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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

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