Study On The Arm Digital Twin Unit With External Monitor Device

The digital twin unit can be defined as "a digital twin that corresponds to the physical end entity as an equipment unit and realizes the integrated delivery of the equipment unit and its supporting software and hardware".Aiming at the problems of difficult monitoring of equipment unit status and insufficient accuracy of digital end models in the current development of digital twin units,research on external monitoring digital twin units is carried out,focusing on the development and accuracy of digital end models.Then use the typical equipment unit manipulator as the application carrier to verify the feasibility of the research.The main work done is as follows:(1)The model architecture of the external monitoring digital twin unit is proposed.The development requirements of the digital twin unit are analyzed,and the model architecture of the digital twin unit is clarified.The overall technical route is summarized and the key technologies are explained.(2)Implemented the development of the digital end model.Proposed a digital end model configuration driving method based on CAE software secondary development,and designed multiple digital end model secondary development modules based on this method.Verified the feasibility of this method and each secondary development module with a mechanical arm.(3)Implemented the design of the external condition monitoring system.Using the inertial measurement unit,and developed its online monitoring software module,and completed its calibration and data filtering processing.Aiming at the back-end AD acquisition part of the strain acquisition system,designed the corresponding main control core board and back-end AD acquisition board for follow-up research.(4)Implemented the design of the offset-based digital end state model compensation scheme.The framework of the compensation scheme is designed,and the model fitting algorithm and data communication in it are realized.The precise compensation of the kinematics state model of the digital end of the manipulator is completed through the deviation data between the physical end and the digital end,and the overall feasibility of the compensation scheme is verified.(5)The design of the digital twin unit software of the manipulator is completed.On the basis of the completion of the above parts,the software is designed,and the application-side services are realized and applied in turn,and the feasibility of each service is verified.The above research has initially explored the idea of the precision of the digital end model and verified the feasibility of the methods and technologies used through the prototype development of the digital twin unit of the external monitoring manipulator.The above research provides a certain reference for the development of the external monitoring digital twin unit and the precise design of the digital end model.