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六自由度机械臂数字孪生体研究

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对六自由度机械臂数字孪生体进行设计,使用机器学习建立各个关节的代理模型,结合静力学模型完成六自由度机械臂内部零件之间力的传递,最终得到六自由度机械臂数字孪生体.采用数字孪生体进行试验,并与ANSYS软件有限元静力学试验、瞬态动力学试验进行对比,确认数字孪生体能够在满足计算需求的前提下,极大提高运算速率.
A digital twin of the six degrees of freedom manipulator was designed.The surrogate model of each joint was established by using machine learning,and the force transmission between the internal parts of the six degrees of freedom manipulator was completed by combining the static model.Finally,the digital twin of the six degrees of freedom manipulator was obtained.The digital twin was used for test,and compared with the finite element static test and transient dynamic test of ANSYS software.It was confirmed that the digital twin can greatly improve the operation rate under the premise of meeting the calculation requirement.

ManipulatorDigital TwinResearch

蒋鑫、黄明、张舒、黄小杰、臧福星、马家亮

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江苏理工学院 机械工程学院 常州 213001

机械臂 数字孪生体 研究

2024

装备机械
上海电气(集团)总公司

装备机械

影响因子:0.158
ISSN:1662-0555
年,卷(期):2024.(4)