计算机集成制造系统 ›› 2025, Vol. 31 ›› Issue (12): 4382-4391.DOI: 10.13196/j.cims.2024.0226

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基于数字孪生的液压机械臂运动仿真与状态监控系统设计

李志祥1,唐宏宾1+,王永胜2,3,杨美观1   

  1. 1.长沙理工大学机械与运载工程学院
    2.华中科技大学机械科学与工程学院
    3.中国铁建重工集团股份有限公司
  • 出版日期:2025-12-31 发布日期:2026-01-07
  • 作者简介:
    李志祥(1998-),男,湖南邵东人,硕士研究生,研究方向:基于数字孪生的工程机械预测性维护关键技术,E-mail:lzx_421@163.com;

    +唐宏宾(1979-),男,河南新乡人,教授,博士,硕士生导师,研究方向:机械动力学及控制、机械系统状态监测及智能诊断,通讯作者,E-mail:thb-fly@163.com;

    王永胜(1985-),男,湖南益阳人,博士研究生,研究方向:大型装备数字样机与数字孪生技术研究及应用,E-mail:wilson1212@126.com;

    杨美观(1998-),男,河南濮阳人,硕士研究生,研究方向:数字孪生,E-mail:1098487144@qq.com。
  • 通讯作者简介:唐宏宾(1979-),男,河南新乡人,教授,博士,硕士生导师,研究方向:机械动力学及控制、机械系统状态监测及智能诊断,通讯作者,E-mail:thb-fly@163.com
  • 基金资助:
    国家重点研发计划资助项目(2023YFB3406100);湖南省自然科学基金资助项目(2025JJ70668);长沙理工大学专业学位研究生“实践创新与创业能力提升计划”资助项目(CLSJCX22059)。

Design of motion simulation and condition monitoring system for hydraulic manipulator based on digital twin

LI Zhixiang1,TANG Hongbin1+,WANG Yongsheng2,3,YANG Meiguan1   

  1. 1.College of Mechanical and Vehicle Engineering,Changsha University of Science and Technology
    2.School of Mechanical Science and Engineering,Huazhong University of Science and Technology
    3.China Railway Construction Heavy Industry Co.,Ltd.
  • Online:2025-12-31 Published:2026-01-07
  • Supported by:
    Project supported by the National Key R&D Program,China(No.2023YFB3406100),the Natural Science Foundation of Hunan Province,China(No.2025JJ70668),and the Practice Innovation and Entrepreneurship Capacity Enhancement Program for Professional Degree Graduate Students at Changsha University of Science and Technology,China(No.CLSJCX22059).

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摘要： 为保证液压机械臂运行过程中的安全性,提升液压机械臂的智能运维水平,开发了基于数字孪生的液压机械臂运动仿真与状态监控系统。首先提出了液压机械臂数字孪生五维模型,分别阐述了各部分的组成和功能;然后完成了液压机械臂物理实体、虚拟系统和通讯架构的设计,重点研究了数据的采集、传输、解析、映射和存储等技术;接着对系统的运动仿真功能进行开发与集成,完成了液压机械臂的运动学分析、轨迹规划算法开发以及基于包围盒的碰撞检测功能开发;最后搭建了液压机械臂实验平台,对系统的各项功能进行测试,实验结果证明了系统的可行性和有效性,为将数字孪生技术应用于工程机械设备提供了有效解决方案。

关键词: 液压机械臂, 数字孪生, 五维模型, 运动仿真, 状态监控

Abstract: To ensure the safety operation and improve the intelligent operation and maintenance level of the hydraulic manipulator,a motion simulation and condition monitoring system of the hydraulic manipulator based on digital twin was developed.The digital twin five-dimensional model of the hydraulic manipulator was proposed,and the composition and function of each part were expounded respectively.The design of the physical entity,virtual system and communication architecture of the hydraulic manipulator was completed,and the technologies of data acquisition,transmission,analysis,mapping and storage are mainly studied.In addition,the motion simulation function of the system was developed and integrated,and the kinematics analysis,trajectory planning algorithm development and collision detection function development based on bounding box of the hydraulic manipulator were completed.Finally,an experimental platform of hydraulic manipulator was built to test the functions of the system.The experimental results verified the feasibility and effectiveness of the system,which provided an effective solution for the application of digital twin technology to engineering machinery and equipment.

Key words: hydraulic manipulator, digital twin, five-dimensional model, motion simulation, condition monitoring

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