Abstract: Aiming at the difficulty to accurately monitor and control the kinematic property of complex mechanical products in the production process,the method of motion regulation based on Digital Twin (DT) was proposed.Based on the theory of meta-action,a six-dimensional structure model of motion research for mechanical products based on DT was established.Then the operation mode of DT-driven motion performance management was mapped out.According to the characteristics of meta-action chain,the data monitoring technology based on meta-action layer was implemented to solve the problem of sensor selection and layout.By utilizing the powerful ability of virtual-real interaction and fusion of multi-dimensional simulation software and DT technology,the specific technical methods of modeling,simulation and motion optimization were formulated.A six-degree-of-freedom industrial robot was taken as an example to verify the rationality and practicability of the method.The results showed that the DT-driven motion performance control mechanism had good adaptability and robustness,and realized the fine management of the robot's motion.

摘要： 针对复杂机械产品在生产运作过程中的运动性能难以监测和控制的问题,提出一种基于数字孪生的运动调控方法。该方法以元动作理论为基础,建立机械产品基于数字孪生的运动研究六维结构模型,并规划了数字孪生驱动的运动性能调控模式。根据元动作链的运动特性,实施基于动作层的数据监测技术,解决了传感器的选择和布置问题。利用多维仿真软件和数字孪生技术强大的虚实交互融合能力,制定了具体的建模、仿真和运动优化技术方法。最后,以某六自由度工业机器人为例验证了该方法的合理性和实用性。结果表明,数字孪生驱动的运动性能调控机制适应性好,鲁棒性强,实现了机器人运动性能的精细化管理。

关键词: 运动性能, 数字孪生, 元动作, 传感器, 多维虚拟技术