摘要
工业机械臂的传统安装调试方法存在成本与风险高、效率低等问题。以一种六自由度机械臂为研究对象,借助数字孪生技术,提出了一种软件在环虚拟调试的方法。借助机电一体化概念设计仿真平台(MCD)构建了机械臂的模型,利用ABB Studio软件对机械臂的运行状态、I/O信号、轴运动姿态等数据进行采集,使用TIA Portal、OPC等软件搭建出ABB Studio与机械臂模型之间的数据传输通道,在虚拟环境下完成对机械臂的虚拟调试。结果表明,利用该虚拟调试平台能够对机械臂各关节的动作进行有效地监控和调试,从而节约了设备后期安装和调试的时间和成本,同时为其他机电一体化设备的设计及调试提供了新的思路。
The traditional installation and debugging methods of industrial robotic arms have problems such as high cost and risk,and low efficiency.This paper focuses on a six degree of freedom robotic arm and proposes a software in the loop virtual debugging method using digital twin technology.A model of the robotic arm was constructed using MCD(Mechatronics Conceptual Design Simulation Platform).ABB Studio software was used to collect data on the operating status,I/O signals,axis motion posture,etc.Software such as TIA Portal(Botu Fully Integrated Software)and OPC(OLE for Process Control)were used to build a data transmission channel between ABB Studio and the robotic arm model.Virtual debugging of the robotic arm was completed in a virtual environment.The results show that using this virtual debugging platform,the actions of each joint of the robotic arm can be effectively monitored and debugged,thereby saving time and cost of equipment installation and debugging in the later stage,and providing new ideas for the design and debugging of other electromechanical integrated equipment.
作者
戢绍庭
杨红军
陈家林
肖博
王佳臣
ZHE Shaoting;YANG Hongjun;CHEN Jialin;XIAO Bo;WANG Jiachen(School of Mechanical Engineering,Wuhan Polytechnic University,Wuhan 430023,China)
出处
《武汉轻工大学学报》
CAS
2024年第2期109-114,共6页
Journal of Wuhan Polytechnic University
基金
湖北省科技厅揭榜项目(编号:2022BEC054).
