| At present,the digital wave represented by the Internet of Things,big data,AI technology,virtual reality technology and other emerging technologies has swept the world,and new technological and industrial changes are also booming worldwide.Nowadays,governments all over the world have mentioned to implement major strategic reforms of the new manufacturing industry,such as Germany “Industry 4.0” strategy,Made in China 2025 strategy and so on.The key goal of these strategic reforms is to integrate the real world and the information world to achieve new breakthroughs in intelligent manufacturing.In the field of intelligent production,industrial manipulators are very representative and play an important role in product assembly,cargo handling and other work.Therefore,it is of great importance to monitor and study the motion state of industrial robot arm.In this thesis,a kind of simulation and monitoring technology based on digital twin technology is proposed,which can reflect the data of real operation of the manipulator to the virtual model in real time and drive the movement of the virtual model.The twin data of the virtual model simulation run can in turn drive the movement of the physical entity of the manipulator,which truly realizes the real-time and bidirectional monitoring between the manipulator entity and the virtual model.The main contents of this thesis are as follows:(1)The theory of digital twin technology is analyzed and studied.According to the five-dimensional architecture model of the digital twin system,the design flow of the virtual system is mainly introduced.The virtual model is drawn by Solid Works,and the model is lightweight processed by 3ds Max and converted into Unity3 D,and the "parentchild relationship" between each joint is set.Implement model movement and scene roaming.(2)Forward and inverse kinematics analysis and trajectory planning are carried out for the manipulator,and the trajectory planning algorithm was integrated into the virtual system to realize the motion simulation of the manipulator model.The man-machine interface is developed to display the operation data of the manipulator in the system.(3)Several common collision detection methods of bounding box are introduced,and the principle and content of artificial potential field method are analyzed.Finally,an improved artificial potential field method for manipulator obstacle avoidance planning is proposed,which improves the safety and efficiency of manipulator operation.(4)A three-dimensional omnidirectional monitoring scheme is proposed to ensure the bidirectional mapping of data between entity and model.Using the database to store historical data,call at any time to reproduce the operation state of the manipulator;The manipulator monitoring simulation platform is built,and the trajectory simulation and condition monitoring functions of the manipulator are tested.The experimental results show the effectiveness of the research. |
