Digital twin design of a 5 degrees of freedom industrial robotic arm for engineering education purposes

Q4 Engineering
Gyula Korsoveczki , Tamás Vasváry , Angéla Váradiné Szarka , Kornél Sarvajcz
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引用次数: 0

Abstract

The main contribution of this paper is to transfer a Mitsubishi RV-2AJ MELFA type industrial robot with 5 degrees of freedom into a virtual space using photogrammetry. The mesh model of the robot was realised in Meshroom software while for the assembly model we used Sold Edge 3D designer software based on reverse engineering principles. The accuracy to the digital twin was tested by comparing the trajectory of the TCP with the physical robot. Moreover, forward kinematic calculations in MATLAB environment were used to validate the model on mathematical way. The digital twin has the opportunity to receive sensor data and coordinates from the physical robot and can be integrated into digital laboratories emphasizing and demonstrating industrial 4.0 technologies in modern engineering education.
工程教育用5自由度工业机械臂的数字孪生设计
本文的主要贡献是利用摄影测量技术将三菱RV-2AJ MELFA型5自由度工业机器人转移到虚拟空间中。机器人的网格模型是在Meshroom软件中实现的,而装配模型我们使用了基于逆向工程原理的Sold Edge 3D设计软件。通过将TCP的轨迹与物理机器人的轨迹进行比较,验证了对数字孪生模型的准确性。通过MATLAB环境下的正运动学计算,从数学角度对模型进行了验证。数字孪生体有机会接收来自实体机器人的传感器数据和坐标,并可以集成到数字实验室中,在现代工程教育中强调和展示工业4.0技术。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
Measurement Sensors
Measurement Sensors Engineering-Industrial and Manufacturing Engineering
CiteScore
3.10
自引率
0.00%
发文量
184
审稿时长
56 days
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