Research On Robot Digital Twins System For The Gluing Operation Of Battery Cell Module

The manufacturing industry is the main body of the national economy,the foundation of a country and the foundation of a strong country.The progress of the manufacturing industry is also inseparable from advanced manufacturing technology.Throughout the development of manufacturing technology,it is not difficult to find that the key of manufacturing technology is the Digital Twin of manufacturing system,and Digital Twin technology is one of the manifestations of Digital technology.It uses digital technology to create virtual scenes corresponding to physical scenes,so as to realize the integration of virtual and real manufacturing systems.The development of digital twin technology has achieved a qualitative change in the production mode and production efficiency of the manufacturing industry.The digital twin of the manufacturing system is no longer a separate simulation system,but a collaborative system that combines virtual scenes with physical scenes.In the design stage of robot manufacturing system,a virtual scene can be built to conduct virtual debugging of robots and other equipment,thus providing a platform for the optimization design of physical robot manufacturing system.At the same time,in order to ensure the safety of the operation process and improve the production efficiency of the task,the collision detection technology and multiple task development methods are introduced into the digital twin system.In order to efficiently develop the gluing operation system of 6R robot digital twin,this paper chooses the visual simulation analysis under MATLAB software,and takes Open GL3 D graphics library and Winform form as the development platform to realize the system of 6R robot digital twin.In this paper,the implications and research methods of the robot digital twin system are described,and the key technologies of the robot digital twin system are studied in combination with the gluing operation unit of the cell module.The main research work of this paper is as follows:(1)In order to build digital twins system of 6R robot working motion under the virtual scene and realizing virtual scene simulation,chapter 2 design model under the Solid Works software,and analyses the virtual industrial robot motion control,and establish the virtual scene of 6R robots twins digital system.Then,the forward kinematics model of the 6R robot was studied.On this basis,the analytical solution of the inverse kinematics was derived.The inverse solution was visualized and analyzed by MATLAB software,and the unique solution was determined.Then,the Monte Carlo method is used to analyze the robot workspace in the virtual scene visualized by MATLAB.At the same time,the collision problem of the robot is taken as a constraint condition to determine the optimal layout of the robot in the gluing operation system of the battery cell module.Finally,in order to realize the robot motion simulation in the virtual scene,the path planning algorithm of the robot is deeply studied,including linear interpolation algorithm and circular interpolation algorithm,and the algorithm is optimized and analyzed.(2)In order to make use of the virtual operation scene of the robot digital twin system to ensure the safety of the gluing operation of the battery cell module,the collision detection function of the industrial 6R robot of the digital twin is studied in Chapter 3.A series of optimization analyses are carried out for the minimum work time and the highest detection accuracy of the collision detection module.First of all,according to the possibility of collision in the process of gluing operation,the collision pair that could not have collision in the process of movement was eliminated.Then,according to the structural characteristics of parts in the gluing operation system,the collision detection function in the virtual scene was studied based on the envelopment mode combining the sphere and the capsule.Finally,the function of collision detection is tested and analyzed in a virtual visual environment based on MATLAB software.(3)In order to improve the efficiency and quality of the gluing operation of the battery cell module by using the virtual operation scenario of the robot digital twin system,the development method of industrial 6R robot operation of the digital twin system is studied in Chapter 4.In order to realize efficient operation development,three operation development methods,namely,virtual instruction parsing,virtual teaching programming and virtual automatic programming,were studied.The three operation development methods were gradually and organic integration to realize efficient operation development.The simulation and comparative analysis of the three operation were conducted under MATLAB software.On this basis,the development mode of coordinated work of two robots is studied,which provides a new idea for improving the efficiency of work.(4)The chapter 5 of the thesis combines the theory and simulation analysis of the full text,through the comparison and analysis of different development platforms,choose Open GL 3D graphics library and Winform form form as the development platform to realize the 6R robot digital twin gluing operating system.According to the robot digital twin system,the physical scene of the gluing operation is built.With the help of the open source and free network communication development library Jopen Show Var,the network communication interface between the physical operating system and the virtual operating system is built.Through experimental analysis,the stability and correctness of the theoretical research and program development are further verified,and the goal of cost reduction and efficiency increase is also achieved for the enterprise.