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This study explores digital twin technology for construction machinery assembly, developing a framework for digital twin engineering manipulator modeling and simulation. The research validates a novel control algorithm for enhanced manipulator performance in engineering environments.

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Area of Science:

  • Robotics and Automation
  • Digital Twin Technology
  • Mechanical Engineering

Background:

  • Digital twin technology offers potential for optimizing complex assembly processes.
  • Construction machinery assembly presents unique challenges requiring advanced simulation and control.
  • Existing control methods may not fully address the complexities of engineering manipulator tasks.

Purpose of the Study:

  • To analyze the feasibility of digital twin technology in construction machinery assembly.
  • To construct a digital twin framework for engineering manipulator modeling and simulation.
  • To develop and validate an improved control algorithm for space engineering manipulators.

Main Methods:

  • Developed a three-layered digital twin framework (model, data, application).
  • Defined a Markov model-based task environment for space engineering manipulators.
  • Designed a reward function incorporating angular velocity soft bounds for algorithm optimization.
  • Utilized kinematics for calculating joint motions from end-effector trajectories.
  • Validated the control algorithm on a Baxter robot platform.

Main Results:

  • The digital twin framework effectively models and simulates engineering manipulator assembly.
  • The proposed control algorithm, with angular velocity soft bounds, improves strategy optimization.
  • Simulation results demonstrate ideal control effects for the engineering manipulator.
  • Real-world application on the Baxter robot platform confirms the control algorithm's effectiveness.

Conclusions:

  • Digital twin technology is feasible for construction machinery assembly, particularly for engineering manipulators.
  • The developed control algorithm achieves superior control effects for engineering manipulators.
  • The study validates the practical applicability and effectiveness of the proposed control strategy.