Research On Digital Twin Test Platform Of Deformable Tracked Robot

This subject is supported by the National Natural Science Foundation of China project "Multi-terrain and multi-motion mode mine disaster relief robot mechanism creation and stability control method",using Unity engine as the development platform to study the digital twin technology in the simulation,testing and testing of deformable crawler robots.The application of human-computer interaction changes the traditional "design-manufacture-test" model of robots,realizes the transition to a new model of "prototype design-virtual environment testing-manufacturing-virtual and reality linkage testing",and assists the development of disaster relief robots.First,create a digital twin environment of rugged roadways in the virtual space and establish a digital description model.This article summarizes the common terrain features under mines,uses Gaea terrain design software to construct roadway landforms,uses grayscale maps as the medium to store terrain height information,and develops scripts in the Unity engine to complete the three-dimensional reconstruction of the roadway unit and the automatic generation of the roadway environment.Provide an interactive environment for subsequent virtual testing.The elevation model composed of honeycomb grids is used to describe the terrain information and provide a data basis for subsequent robot relocation and path planning.Secondly,realize the replication of the deformable crawler robot at the real level,and build a physical-level digital twin prototype.This paper analyzes the advantages of the differential balance mechanism and the active deformation mechanism,establishes the kinematics model of the whole robot,and describes the mapping relationship between the robot control quantity and the attitude description quantity.Using controls,custom scripts and plug-ins in the Unity engine to reconstruct the kinematic constraints,the digital twin prototype can restore all the motion postures of the real physical prototype.Thirdly,to realize the abstraction of the deformable crawler robot,build a systemlevel digital twin prototype,and perform virtual algorithm testing.This paper builds virtual sensors in the Unity engine,builds virtual positioning subsystems and virtual navigation subsystems,drives the digital twin prototype to interact with the digital twin environment and generates test data,and evaluates and improves the positioning and path without manufacturing a real physical prototype.Plan the plan,accelerate the development progress,and reduce the development cost.Finally,realize the expansion of the information level of the deformable crawler robot and build an information-level digital twin platform.The digital twin is not only a simple copy of a physical entity,but also an expansion of the information dimension.Use the digital twin platform to assist the deformable crawler robot in real machine test experiments,design the data flow between the platform,physical prototypes,and laboratory instruments,establish an interconnection mechanism,monitor the state of the deformable crawler robot in real time,and store human-computer interaction and experimental data Lay a foundation to provide data support for the further optimization of mechanical structure and control algorithms.