Digital twin-driven Delta mechanical arm sorting real-time monitoring system and method

The Delta robotic arm sorting real-time monitoring system, driven by digital twins, enables real-time status monitoring and remote operation of the physical robotic arm, solving the problems of information opacity and insufficient security in traditional systems, and improving production efficiency and automation level.

CN121018583APending Publication Date: 2025-11-28ZHEJIANG SCI-TECH UNIV +1
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Patent Information

Application Number
CN202511483016.7
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-10-16
Publication Date
2025-11-28

AI Technical Summary

Technical Problem

Traditional Delta robotic arm sorting systems lack real-time perception and information transparency in complex production environments, making it difficult to cope with dynamic changes, resulting in low efficiency, poor safety, and insufficient data utilization.

Method used

The Delta robotic arm sorting real-time monitoring system, driven by digital twins, combines physical sorting units with digital twin units. It uses sensors to collect data and transmits it in real time to the digital twin unit for synchronous kinematic calculation and visualization of the virtual robotic arm model. Combined with user control interface, trajectory planning and collision detection modules, it realizes real-time monitoring and remote operation of the physical robotic arm.

Benefits of technology

It improves the system's information transparency and operational security, lowers the operational threshold, enhances production efficiency and automation levels, and strengthens its adaptability to dynamic environments.

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Abstract

The invention provides a real-time monitoring system and method for sorting of a digital twin-driven Delta mechanical arm. According to the system, firstly, a physical experiment platform is built, and a virtual model is built through SolidWorks, 3DMAX and Unity 3D. A communication framework is designed, and wireless communication of the PLC, the sensor, the mechanical arm, the conveying belt and the digital twin system is achieved. Positive and inverse kinematics analysis and Cartesian space trajectory planning are carried out on a Delta robot, and a related algorithm is packaged into an MATLAB function and compiled into a DLL library for C # calling. The system collects joint angle data in real time based on a rotary encoder, transmits the joint angle data to a digital twin system through an OPC UA protocol, and drives a virtual mechanical arm model after resolving, so that high-precision and low-delay virtual-real synchronous pose reconstruction is realized. In addition, the system also develops a collision detection function based on a bounding box algorithm, and performs visual detection by using camera calibration and a YOLO model.
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