基于数字孪生的机械产品运动性能调控方法
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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。
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.
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.
引文
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[3]TAO F,ZHANG M,Liu Y,Nee A.Digital twin driven prognostics and health management for complex equipment[J].CIRP Annals-Manufacturing Technology,2018,67(1):169-172.
[4]LUO W,HU T,ZHANG C,WEI Y.Digital Twin for CNCmachine tool:modeling and using strategy[J].Journal of Ambient Intelligence and Humanized Computing,2018,10(3):1129-1140.
[5]TAO Fei,CHENG Jiangfeng,QI Qinglin,et.al.Digital twindriven product design,manufacturing and service with big data[J].The International Journal of Advanced Manufacturing Technology,2017,94(9):3563-3576.
[6]ZHENG Y,YANG S,CHENG H.An application framework of digital twin and its case study[J].Journal of Ambient Intelligence and Humanized Computing,2019,10(3):1141-1153.
[7]TAO Fei,ZHANG Meng.Digital twin shop-floor:a new shopfloor paradigm towards smart manufacturing[J].IEEE Access,2017,5:20418-20427.
[8]LI Dongyin,ZHANG Genbao,LI Mengqi,et.al.The diagnosis of abnormal assembly quality based on fuzzy relation equations[J].Near Surface Geophysics,2013,65(5):82-89.
[9]RAN Yan,ZHANG Genbao,LI Dongyin.Functional decomposition and reliability modeling technology study of CNC machine[EB/OL].(2014-01-05)[2018-12-16].http://www.xcdsystem.com/iie2014/abstract/finalpapers/i857.pdf.
[10]LI Dongying,ZHANG Genbao,WANG Yang.Mechanism analysis of deviation sourcing and propagation for meta-action assembly unit[J].Journal of Huazhong University of Science and Technology:Natural Science Edition,2015,51(17):146-155(in Chinese).[李冬英,张根保,王扬.元动作装配单元误差源及误差传递模型[J].机械工程学报,2015,51(17):146-155.]
[11]LIU Ying,SUN Yunyan,ZHANG Genbao,et al.Error propagation model and calculating method of effective transfer path for meta-action assembly unit[J].Journal of Chongqing University,2017,40(3):1-11(in Chinese).[刘英,孙云艳,张根保,等.元动作装配单元误差传递模型及有效路径求解方法[J].重庆大学学报,2017,40(3):1-11.]
[12]TAO F,SUI F,LIU A,Qi Q,et al.Digital twin-driven product design framework[J].International Journal of Production Research,2018,94(9):3563-3576.
[13]YU Bohua,YANG Shixi,ZHOU Xiaofeng.Optimization of senor allocation based on fault-measurement point mutual information[J].Journal of Zhejiang University:Engineering Science,2012,46(1):156-162(in Chinese).[于保华,杨世锡,周晓峰.基于故障-测点互信息的传感器多目标优化配置[J].浙江大学学报:工学版,2012,46(1):156-162.]
[14]ZHUANG C,LIU J,XIONG H.Digital twin-based smart production management and control framework for the complex product assembly shop-floor[J].The International Journal of Advanced Manufacturing Technology,2018,96(1/2/3/4):1149-1163.
[15]SEBSTIAN H,REINER A.Digital twin-proof of concept[J].Manufacturing Letters,2018,15(C):64-66.
[16]ROSEN R,VON WICHER G,LO G,BETTENHAUSENKD.About the importance of autonomy and digital twins for the future of manufacturing[J].IFAC-Papers Online 2015,48(3):567-572.