Research On Robot State Monitoring Technology Based On Digital Twin Simulation Modeling

With the implementation of "Industry 4.0" and "Made in China 2025",the intelligent factory has gradually become a research hotspot,and Cyber Phyical System(CPS)has become an important concept for building the intelligent factory.Digital Twin,as the core content of CPS,has important research value.This thesis applies Digital Twin technology to the condition monitoring of industrial robots,and to some extent supports the exploration of new modes of production management in the future.This thesis introduces relevant technologies and contents from the following aspects:1.By analyzing the theoretical research of Digital Twin technology,the fivedimensional structural model of Digital Twin has been studied as the context of this thesis.This thesis is divided into three parts: "virtual model","data and connection" and "service system".2.For the establishment of the virtual model,the Daye four-axis industrial robot is taken as the research object,and the modeling work is completed in combination with SolidWorks,3dMax and Unity3 D.In the modeling process,the method of decomposing the model and then integrating the assembly is used.The visual effect of the model is enhanced through model lightweight processing,texture rendering,and lighting design.By using model-oriented features to change model properties,the model has characteristics of a single movement.3.From the four aspects of industrial robot information model,data acquisition,data real-time system architecture,data transmission and processing,it solves the four problems of data items,data acquisition methods,data driving methods and data transmission optimization processing.Firstly,the information model is established to get which data needs to be collected.Then,the data is collected by OPC UA.Finally,the real-time data-driven architecture based on the presentation layer,the logic layer and the data layer is built.The database is built in the data layer and the script is access to the server in the logic layer.Physical space to virtual model mapping is achieved by script control to transfer data to the presentation layer model and provides a three-dimensional visual remote monitoring solution for workers.4.Aiming at the "service system" problem in the Digital Twin five-dimensional structural model,based on the remote monitoring of 3D visualization,the kinematic analysis and dynamic analysis of industrial robot data is used to realize data application and optimize the "service system".