Abstract: As for the robots working on the flexible assembly unit of the circuit breaker production line,a framework that supports robot motion planning and motion control based on the Digital Twin technique was proposed.Aiming at flexible assembly robot unit,the mathematical model of robot motion control was applied to the digital scene of physical object.The digital model was kept up to date by continuously mirroring physical units driven by data,thus ensuring the real-time synchronization and faithful mapping of digital twins.Ultimately,some instances was utilized to introduce the verification process of the framework of digital twin.

Key words: digital twin, flexible assembly, robot, circuit breaker, motion planning, motion control

摘要： 针对断路器柔性装配生产线中的柔性装配单元机器人,结合数字孪生技术,提出一种支持机器人运动规划和控制的柔性装配机器人数字孪生框架。面向柔性装配机器人单元,结合实际制造工艺及过程,对物理实体对象进行了数字三维建模,同时建立了相应的柔性机器人动力学运动控制数学模型,将柔性机器人动力学模型应用于数字三维场景,通过数据交互链接物理实体单元与数字孪生单元,对孪生柔性机器人在运动姿态、制造工艺等数据上进行实时更新,从而保证数字孪生体的实时同步与忠实映射。以实例介绍了该数字孪生框架的实现与验证过程。

关键词: 数字孪生, 柔性装配, 机器人, 断路器, 运动规划, 运动控制