| As China’s manufacturing industry continues to advance toward intelligent manufacturing,digital twin technology,as a bridge between the real world and the information world,is an important way to realize digitalization,networking,and intelligence in manufacturing.Robotic arm gripping is a representative application scenario of industrial robots in the manufacturing industry.Optimizing and adjusting its working process through simulation and monitoring technology can greatly reduce the cost and risk,and ensure the stability and reliability of the production process.This paper combines the simulation and monitoring of robotic arm gripping operation with the digital twin concept,builds a motion simulation and state monitoring platform based on the robotic arm digital twin,and explores a new model of future industrial robot production management with robotic arm gripping as the entry point by driving the bidirectional mapping between physical entities and virtual models through twin data.The research content of this paper is divided into the following aspects:(1)Overall design of the Digital Twin-based simulation and monitoring system for mechanical arm grasping operations.The problems of the current robot arm simulation and monitoring technology are summarized and analyzed,and the system design goal is to build a digital twin of the robot arm and realize the motion simulation and state monitoring functions.Secondly,the system is divided into functional modules according to the modularization idea,and the overall architecture of the system is established according to the five-dimensional model of the digital twin.The structure and parameters of the robotic arm entity and its supporting equipment are introduced.(2)The construction of digital twin and the realization of motion simulation function.The 3D digital model of the robot arm grasping scene and the collision body model are built by the 3D modeling software.The kinematic model of the robotic arm was established by setting the coordinate system on the robotic arm linkage to describe the position and attitude of the robotic arm.Then on this basis,the forward and inverse kinematics and trajectory planning of the robotic arm are studied,and the trajectory planning algorithm and collision detection service are integrated into the system.(3)Implementation of the state monitoring function.Design the robotic arm state monitoring scheme,and study the technologies of twin data acquisition,transmission,parsing,mapping,and storage.The twin data is injected into the virtual model to realize the all-around all-view monitoring of the motion state and parameter data during the robotic arm grasping process.The twin data is stored in the local database,and the historical operation status of the robotic arm is reproduced by querying the historical database according to the user’s demand so that the twin data can be tracked and retraced.(4)System implementation and testing.Integrate human-machine interface and functional modules to develop the prototype system.Build an experimental platform to test the human-machine interaction interface,motion simulation,and state monitoring functions of the prototype system.The interface test results show that the system interface interaction logic is clear and user-friendly,and the user experience is good.The functional test results show that the system is functionally complete and has good real-time monitoring,which achieves the expected design goal and verifies the feasibility and effectiveness of the system implementation method in this paper. |
