机械

以机器人为核心运动组件的数字孪生终端系统，有助于无人工厂安全员对工作现场进行监控，提高了无人化工厂的安全性和可控性。本文采用Unity作为虚拟现实的开发平台，设计了具有离线和在线监控功能的实时3D数字孪生终端，这种设计方法具有一定的开发敏捷性。通过建立机器人运动学模型，分析正逆运动学和路径生成方法，提出了一种机器人脚本的设计模式，实现了机器人的关节运动动画，并采用单独的服务器作为Unity中仿真场景和机器人控制器的通信中心，利用套接字通信和机器人厂商提供的接口实现了仿真场景和机器人间的实时交互。通过数字孪生终端与RobotStudio离线编程环境的交互测试，验证了该设计方案的可行性。

A digital twin terminal system is designed with robots as core motion components. The digital twin system can not only help safety administrator to monitor equipment, but also improve the safety and controllability of the unmanned factory. Taking Unity as the virtual reality platform development framework,this paper designed a real-time 3D digital-twin terminal with offline and online monitoring functions, which could also achieve development agility. A design pattern of robot script was proposed through the robot kinematics model with forward and inverse kinematics and path generation method. The joint motion of robot was realized. A server was used as the communication center between the simulation scene in Unity and the robot controllers. The real-time interaction between simulation scene and robots was realized using the socket protocol and the interface provided by robot manufacturers. It was verified to be feasible for the design scheme by the interactive test between the digital twin terminal and the RobotStudio offline programming environment.