DIGITAL TWIN FOR INDUSTRIAL ROBOTS USED IN PRODUCTION

Mihai CRENGANIȘ, Claudia GÎRJOB, Cristina BIRIS, Gabriel RACZ

Abstract


The paper aims to address, in a structured way, the necessary steps in order to develop a Digital Twin for a complex process that involves industrial robots used in manufacturing applications. The main goal is to facilitate the design, optimization, and digital validation of robotic cells, and the emphasis is on the integration of kinematic and dynamic modeling of robots, simulation of technological forces, and functional validation. Furthermore, the paper integrates the kinematic and dynamic equations of an ABB IRB 1200 7/0.7 robot and includes the desired trajectories to be followed by the end effector. The application of external forces is correlated with the dynamic responses of the robot (resistant torques in joints or energy consumption). The dynamic model developed thus allows the testing and optimization of work configurations without the need for physical intervention on the real system. The approach presented by the paper allows a thorough understanding concerning the interaction between the parameters of the process and the dynamic behavior of the industrial robotic structure. The paper contributes to the development of a robust, energy-efficient solution that can be adapted to the requirements of modern production.


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References


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