Digital Twin Based Parallel Robot System for Cylindrical Component Assembly

doi:10.3901/JME.2025.01.044

Abstract

Abstract: Aimed at assembling of cylindrical components, a parallel robotic system including an AGV and a 6 degree-of-freedom (DOF) parallel robot is proposed, with which the digital twin assembling is studied. The AGV is responsible for transferring component and the 6-DOF parallel robot can adjust component pose for assembling. First of all, inverse kinematics of all joints for the 6-DOF parallel robot and its kinematic calibration is carried out by finite and instantaneous screw theory. For a given pose of the end-effector, the actual poses of links can be easily calculated. On this basis, a digital model reflecting physical assembling model is built by 3D model reconstruction. Through binocular vision measurement, coordinates of measuring points are obtained, and the point, line and surface of components are fitted by these coordinates. Relative poses among AGV, parallel robot and the components are calculated for real-time measurement. Further connecting measurement, AGV, parallel robot and its controller, the bi-directional communication between digital model and physical model is achieved. Trajectory is planned based on the digital twin model for a fast, stable and collision-free assembling. Also, assembling process is divided into pose-adjusting and pure translating. An assembly prediction algorithm is developed before pure translating. The translating trajectory is modified in real-time. Experiments are conducted to verify the presented system and algorithms. Results show that measuring accuracies of plane, cylinder, center point and holes are high, and the real-time adjustment ensures successful assembly. Finally, the transferring, pose-adjusting and docking of the components are tested. Feasibility of applying digital twin assembling is confirmed.

Key words: parallel robot, digital twin, assembly, finite and instantaneous screw, trajectory planning

CLC Number:

TH112

SONG Yimin, WANG Ruizhe, LIAN Binbin, LI Qi, SUN Tao. Digital Twin Based Parallel Robot System for Cylindrical Component Assembly[J]. Journal of Mechanical Engineering, 2025, 61(1): 44-59.

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