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 pro-poses 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 soft-ware 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.
维普
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