| 摘 要: 针对目前数字孪生技术在工业机器人领域落地应用少、虚实映射模型不全面等问题,提出了一种工业机器人孪生映射模型构建方法。首先,基于改进DH法(M-DH)建立运动学模型,并以实测关节角度驱动,实现孪生模型与物理实体同步运动;其次,基于拉格朗日法建立考虑关节柔性的机器人振动模型,得到关节振动信号,实现孪生模型对物理实体在振动机理上的映射。最后,以六轴工业机器人为例,基于Unity3D(3D图形开发引擎)搭建了孪生空间,并对所提方法进行了验证。实验结果表明,孪生轨迹与实测轨迹一致,并且孪生振动数据与实测值在时域上相吻合,验证了所提映射模型的正确性和准确性。 |
| 关键词: 工业机器人;数字孪生;运动学建模;关节振动 |
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中图分类号: TP391.9
文献标识码: A
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| Research on Modeling Method of Twin Mapping Model for Industrial Robot |
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WANG Zhenwei, ZHANG Zhenshan
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(School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620, China)
1225804795@qq.com; zhangzhenshan0803@163.com
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| Abstract: Aiming at the problems of limited applications of digital twin technology in the field of industrial robots, and incomplete virtual and real mapping models, this paper proposes a method to build twin mapping model for industrial robots. Firstly, the kinematics model is established based on the Modified DH (M-DH) Method and driven by the measured joint angle to realize the synchronous movement of the twin model and the physical entity. Secondly, based on the Lagrangian method, the vibration model of the robot considering joint flexibility is established, and the joint vibration signal is obtained, so as to realize the mapping of the twin model to the physical entity in the vibration mechanism. Finally, taking a six axis industrial robot as an example, a twin space is built based on Unity3D (3D graphics development engine), and the proposed method is verified. The experimental results show that the twin trajectory is consistent with the measured trajectory, and the twin vibration data is consistent with the measured values in the time domain, verifying the correctness and accuracy of the proposed mapping model. |
| Keywords: industrial robot; digital twins; kinematic modeling; joint vibration |
