摘要
为实现纱筒更换过程的信息化、数字化,课题组提出了一种基于数字孪生技术的机械臂纱筒更换仿真系统。通过集成正逆运动学建模、Petri网络逻辑建模、通信服务器软件平台和虚拟仿真平台,实现了机械臂在物理空间与虚拟空间的同步真实映射;进行了纱筒更换机械臂的虚拟仿真作业规划实验、数字孪生通信延迟的测量实验及“以虚控实”的实时同步数据监测实验。结果表明:虚拟仿真作业与实际坐标在X,Y和Z方向上的绝对值误差均不超过1 mm,在720个数据样本中测得的通信延迟平均值为57.50±13.45 ms;在虚实同步实验中,虚拟机械臂与真实机械臂之间的关节角度最大绝对误差为0.30°,最小绝对误差为0.04°,角度误差为-0.29°~0.30°。这表明该系统在虚拟仿真作业中具有高精确性、低通信延迟以及同步监测实验的高精度,从而满足了纱筒更换的精确需求。
In order to realizethe informatization and digitalization of bobbin replacement process,the research group proposed a digital twin-based robotic arm yarn bobbin replacement simulation system.By integrating forward and inverse kinematic modeling,Petri network logic modeling,communication server software platform,and a virtual simulation platform,real-time synchronized mapping between physical and virtual spaces for robotic arm operations was established.The virtual simulation task planning experiment for bobbin replacement robotic arm,digital twin communication latency measurement experiment,and virtual-to-real synchronized monitoring experiment were carried out.Results demonstrate:The absolute positioning errors between virtual simulation and actual coordinates in X,Y,Z directions remain below 1 mm,average communication latency measures 57.50±13.45 ms across 720 data samples;in virtual-real synchronization tests,joint angle errors between virtual and physical robotic arms range from-029°to 030°,with maximum absolute error 030°and minimum absolute errors of 004°.These findings confirm the system′s high precision in virtual simulation tasks,low-latency communication performance,and exceptional accuracy of synchronous monitoring experiment,effectively meeting the stringent requirements for yarn bobbin replacement operations.
作者
张金旭
张周强
陈芙蓉
王康旭
王林
ZHANG Jinxu;ZHANG Zhouqiang;CHEN Furong;WANG Kangxu;WANG Lin(School of Mechanical and Electrical Engineering,Xi′an University of Engineering,Xi′an 710048,China)
出处
《轻工机械》
2025年第4期10-18,26,共10页
Light Industry Machinery
基金
功能性纺织材料及制品教育部重点实验室资助项目(项目编号:2024FTMP016)
陕西省教育厅科学研究计划高校工程研究中心项目(24JR072)
西安工程大学专业学位研究生教学案例项目(24yjxa109)。
关键词
纱筒
机械臂
数字孪生
虚拟仿真
通信延迟
实时同步
yarn bobbin
robotic arm
digital twin
virtual simulation
communication latency
real-time synchronization
