机电工程技术2025，Vol.54Issue(5)：74-79,183,7.DOI:10.3969/j.issn.1009-9492.2025.05.013
基于数字孪生的玻璃幕墙注胶机器人检测控制系统
Digital Twin Based Inspection and Control System for Glass Curtain Wall Glue Injection Robot
摘要
Abstract
To solve the difficulties faced by glass curtain wall glue injection industry in the production and processing process,such as high cost,low efficiency,and difficulty in achieving comprehensive intelligence and automation,a digital twin based glass curtain wall glue injection robot detection and control system is designed and developed.Firstly,a simulation model of the glue injection robot is established using the modeling software SolidWorks,and a simulated physical robot is built.Next,a virtual scene is constructed using the CoppeliaSim virtual robot motion simulation platform to achieve motion simulation of the robot glue injection process,and robot motion control and inspection are carried out.During this process,a human-computer interaction interface and a C#based serial communication module are designed using Visual Studio 2022 to achieve effective communication among the interface,simulation platform,and robot,achieving the goal of dynamic real-time interaction between the virtual model and the injection robot.In terms of system control detection,forward and inverse kinematics analysis are conducted on the robot,and combined the bounding box algorithm and GJK algorithm to achieve robot collision detection.The experimental results show that the glue injection robot can effectively respond to control instructions with a response delay of less than 200 ms.The interface can display motion parameters in real time with a parameter error of less than 5%,and dynamic interaction is successfully achieved.This system provides technical support and solutions for the glass curtain wall adhesive industry,effectively improving production efficiency and reducing costs.关键词
数字孪生/CoppeliaSim/动态实时交互/玻璃幕墙注胶机器人Key words
digital twin/CoppeliaSim/dynamic real-time interaction/glass curtain wall gluing robot分类
信息技术与安全科学引用本文复制引用
黄伟,黄飞扬,雷佳豪,肖阳,吴文强,萧仲敏..基于数字孪生的玻璃幕墙注胶机器人检测控制系统[J].机电工程技术,2025,54(5):74-79,183,7.基金项目
大学生创新创业训练项目(202311078026) （202311078026）
广州大学2023年度校级探索性实验建设项目(SJ202302) （SJ202302）
