| Manufacturing has long been recognized as a critical driver of national economies,and the advent of smart manufacturing has emerged as a pivotal trend in its development.The integration of digital twin technology has expedited the transition of manufacturing from the low-end to mid-high-end spectrum.In this context,industrial robots have assumed an indispensable role in intelligent manufacturing.Establishing a digital twin system for industrial robots facilitates real-time monitoring,debugging,and optimization,thereby minimizing potential risks and trial-and-error costs,and ultimately propelling the digital and intelligent transformation of the manufacturing industry.This research focuses on the following objectives:(1)Exploration of digital twin theories and technologies and development of a three-layer architecture for the digital twin system targeting industrial robots.The architecture is based on the five-dimensional model of the digital twin and comprises the device layer,intermediate layer,and application layer.(2)Construction of a digital twin virtual model of the industrial robot at the device layer.The study employs ABB’s IRB-120 robot as the research subject and analyzes the fundamental requirements and components necessary for digital twin model construction.The virtual model is realized through UG NX software,encompassing 3D modeling of the robot,followed by assembly,inclusion of physical attributes,kinematic behaviors,and geometric constraints within the MCD module,thus establishing a virtual representation of the physical entity.(3)The intermediate layer is responsible for data acquisition and transmission.Firstly,it establishes an information model for the six-axis industrial robot by analyzing the required data for acquisition.The physical robot’s joint axis angles during operation are acquired,and a human-computer interaction interface is designed to visually monitor the physical robot’s data.Finally,the acquired data is transmitted to the virtual model in the MCD using the TCP/IP protocol to enable synchronized motion between the virtual and physical models,facilitating monitoring of the physical robot’s operational status.(4)Validation of the visual state monitoring and trajectory planning functions within the application layer’s service system.These tests serve to verify the feasibility and effectiveness of the digital twin system for six-axis industrial robots. |
