Research On Path Planning Method Of Large Span Gantry Robot Oriented To Digital Twin

Gantry robots enjoy important applications in unmanned factories and intelligent manufacturing tasks.Based on the high-fidelity digital twin model,the gantry robot can complete the visualization process from three-dimensional(3D)layout,path planning,process demonstration to virtual-real interaction,which has important application value.Aiming at the automated production of customized wooden furniture,this paper proposes a digital twin for 3D path planning of a large-span curved-arm gantry robot for industrial production.The research includes the following contents:(1)A 3D path planning algorithm for the large-span curved-arm gantry robot based on the digital twin platform is proposed.The algorithm firstly simulates the trajectory of the end effector,truss,crank arm and fine-tuning mechanism of the gantry robot.Trajectory simulation provides the necessary basic conditions for the proposal and improvement of 3D path planning algorithms.Then,a 3D mesh construction strategy is proposed by analyzing the structure of the gantry robot.The mesh construction strategy needs to complete four steps: static point set construction,obstacle avoidance analysis,point set construction for leap obstacles and convex plane construction analysis.Finally,a3 D path planning algorithm is proposed for the large-span curved-arm gantry robot based on the Nav Mesh 3D path planning algorithm.(2)A multi-objective path planning algorithm based on assembly line scheduling model and dynamic scheduling planning model is proposed for the door panel processing.The assembly line scheduling model is equipped with Gantt chart to complete the bidirectional ordered multi-objective path planning.The dynamic scheduling planning model completes the one-way ordered multi-objective path planning based on the Analytic Hierarchy Process(AHP).(3)A digital twin platform of gantry robot is built and divided into the following modules: control module,drive module,control decision module,motion analysis module,path planning module and 3D online monitoring module.Based on the digital twin system of gantry robot,the proposed path planning algorithm is realized.The bilateral control method is adopted to realize the perception and control of the real large-span curved-arm gantry robot in physical space.Experimental results show that the method can ensure safety,improve production efficiency and have satisfactory real-time performance when controlling a real gantry robot.