基于数字孪生的复杂件多机器人智能加工方法OA北大核心CSTPCD

As an important component of aerospace equipment such as missiles,rockets and satellites,there are many complex intersecting characteristics and narrow feasible space inside the cabin components,which bring great challenges to the processing of its inner wall,and thus the processing efficiency and intelligence level of manufacturing equipment are difficult to meet the rapid and high-quality development needs of aerospace equipment.To improve the machining efficiency and intelligent level of cabin component manufacturing equipment,a multi-robot intelligent collaborative machining method based on digital twin was proposed.The digital twin framework of virtual space,physical space and information data layer of robot collaborative processing system with different functions was constructed.The design of twin data model such as twin data source and type,data fusion and data storage was elaborated in detail,and the optimal control and decision-making model of multi-robot collaborative processing was established.The software and hardware platform of multi-robot intelligent processing was developed.The virtual-real mapping and interaction were realized,and the on-line monitoring of processing system was realized.Taking the precision milling and measurement process of a certain type of aircraft cabin as a case for verification and analysis,the processing route was optimized,the processing efficiency was improved,and the feasibility and efficiency of the method were verified.