Digital twin-driven robotic arm operation simulation and health management research

摘要

To reduce the complexity of monitoring and management of robots in service, a six-axis robot control system based on digital twin is proposed. Based on 3D printing technology, a six-axis robot is developed. At the same time, the kinematics of the robot is analyzed, and its kinematics model is built using the D-H rule. The forward and reverse kinematics of the robot are solved. Through the two-way data interaction between the model layer and the entity layer, the simulation operation of the robot and the twin synchronous operation of the virtual real robot are realized. Based on the real-time data drive, the key parameters of the robot are monitored, and the health parameter table of the current, voltage, joint vibration, and other parameters of the robot system is established. Based on the idea of comparison of the same kind, the abnormal state detection of the robot is realized through quantitative analysis. Finally, the feasibility of the proposed system is verified by experiments.