Digital twin-driven mechanical arm modeling, control and monitoring integrated system

Abstract

The invention discloses a digital twin-driven mechanical arm modeling, control and monitoring integrated system. The system comprises a digital twin simulation model building module used for buildinga mechanical arm digital twin integrated simulation model based on a mechanical arm CAD assembly model; a mechanical arm control module used for realizing the closed-loop feedback control of the mechanical arm digital twin integrated simulation model; a data acquisition, preprocessing and feature building module used for acquiring mechanical arm operation data and preprocessing the operation data,and building mechanism characteristics for mechanical arm fault monitoring according to mechanical arm kinematics and kinetic characteristics; and a fault monitoring module used for monitoring a mechanical arm operation state of the closed-loop operation process of the mechanical arm digital twin integrated simulation model in real time by utilizing the preprocessed mechanical arm operation dataand the built mechanism characteristics. The digital twin-driven mechanical arm modeling, control and monitoring integrated system provided by the invention can effectively realize the real-time faultmonitoring of the expected trajectory tracking control of an intelligent assembly mechanical arm and the running process of a digital twin closed-loop system.

Description

technical field [0001] The invention relates to the field of intelligent manufacturing, in particular to a digital twin-driven mechanical arm modeling, control and monitoring integrated system. Background technique [0002] With the introduction of Industry 4.0 and Industrial Internet, the traditional manufacturing industry is developing towards intelligent manufacturing. The essence of Industry 4.0 is to build smart factories through cyber-physical systems (CPS), and use smart manufacturing methods to produce smart products. [0003] In the intelligent manufacturing environment, the manufacturing Internet of Things builds the interconnection between people, machines, and things in the workshop, and realizes the identification, tracking, and interaction of physical entities; while the digital twin (DT) technology builds the workshop The closed-loop logic of "situation awareness-simulation calculation-cooperative decision-making-production execution" has brought about signif...

AI Technical Summary

Problems solved by technology

[0007] Therefore, there is currently no digital twin integrated system framework that integrates the modeling, control and monitoring of the manipulator.

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