| 张金旭， 张周强*， 陈芙蓉， 王康旭， 王林.基于数字孪生技术的机械臂纱筒更换仿真系统[J].轻工机械,2025,43(4):10-18 |
| 基于数字孪生技术的机械臂纱筒更换仿真系统 |
| Digital Twin Based Simulation System for Robotic Arm Yarn Bobbin Replacement |
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| DOI：10.3969/j.issn.1005 2895.2025.04.002 |
| 中文关键词: 纱筒 机械臂 数字孪生 虚拟仿真 通信延迟 实时同步 |
| 英文关键词:yarn bobbin robotic arm digital twin virtual simulation communication latency real time synchronization |
| 基金项目: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)。 |
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| 中文摘要: |
| 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。 |
| 英文摘要: |
| 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. |
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