摘要详情

ID / 提交时间

19 / 2025-03-22 16:46:42

标题

Research on Modeling and Motion Simulation of Hydraulic Robot Based on Digital Twin Technology

关键字

digital twin,hydraulic robot,modeling and simulation,five-dimensional framework

主题及专题

A11机器人

状态

全文待审

作者

亚洁李 / 兰州理工大学

瑞龙吴 / 兰州理工大学

摘要

To ensure the stable and reliable operation of hydraulic robot and to equip them with certain fault diagnosis and prediction capabilities, modeling and simulation of the hydraulic robots with the help of digital twin technology is undoubtedly an important basis for solving the above problems. This paper focuses on a five-degree-of-freedom hydraulic robot and proposes a modeling and motion simulation method based on digital twin (DT) technology, using a five-dimensional framework. Firstly, a digital twin model of the hydraulic robot, including both physical and attribute models, was developed. Secondly, to address the issue of insufficient precision in the attribute model, the Adam optimization algorithm was employed to optimize the model, improving the accuracy of the joint angles of the digital twin robot. Finally, using the CoppeliaSim and MATLAB co-simulation platform, precise debugging and experimental verification of the robot's motion control were carried out, validating the effectiveness and practicality of the proposed method.