天津职业技术师范大学学报

针对传统的单点制造技术将设计和制造过程分离，产品的生产效率低，无法适应新一代制造设备信息化发展和网络扩展的问题，提出一种基于数字孪生的工业机器人虚实同步装配系统。设计搭建了软硬件平台，在数字孪生软件中建立一比一的物理模型，并设计了机器人模型的运动控制算法；构建了TCP/IP、OPC DA的网络通信方式，建立了数字孪生模型的驱动接口和外部通信信号一一映射关系；根据采集的数据，编写了相应的处理程序，完成模型位置标定，实现了工业机器人装配虚实同步。研究结果表明：该系统平均绝对值误差在0.4 mm以下，满足精度要求。

Traditional single-point manufacturing technologies separate the design and manufacturing processes,resulting in low production efficiency and an inability to adapt to the challenges posed by the digitalization of next-generation manufacturing equipment and network expansion. To address this issue,this paper proposes a virtual-real synchronous assembly system for industrial robots based on digital twin technology. This system involves designing and building a hardware and software platform,establishing a one-to-one physical model in the digital twin software,and the development of a motion control algorithm for the robot model. Network communication methods using TCP/IP and OPC DA are constructed to establish a one-to-one mapping relationship between the driving interface and external communication signals of the digital twin model. By analyzing the collected data,corresponding processing programs are written to complete model position calibration,achieving virtual-real synchronous assembly of industrial robots. The research results demonstrate that the system maintains an average absolute error of less than 0.4 mm,meeting the required accuracy requirements.