Diseño de una interfaz digital Twein de un brazo robótico Ur3 que realiza marcado para corte de superficies usando Experior.

Abstract

The objective of this research is the design of a Digital Twin interface of a robotic arm UR3 that performs the marking for cutting surfaces in the context of flexible production. The interface was achieved through Human-Computer-Machine Interaction (HCMI). The process was initially developed in PolyScope with the acquisition of rectangular pieces as personalized production orders, then through a cut and packing algorithm programmed in Python, the pieces were organized and placed in the best arrangement based on the size of the plate which is the available resource, the transmission and reception of data between PolyScope and Python was based on TCP/IP program. Afterwards, the Digital Twin design was made within the Experior software where the UR3 robotic arm provided by the same Company was used and the environment in which it works was modified. The data from the real environment was collected by an adaptation in the final effector of the UR3 robotic arm called Wrist Camera and sent to Experior using MODBUS program so that the virtual environment reflects an exact copy of the real environment. Eventually, the entire system was implemented virtually using Ursim as an exact copy of the UR3 robotic arm distributed by Universal Robots. For the evaluation of the system, an average delay of 3,64 ms was obtained considering that the system was tested within a virtual environment and achieving a 99,758% movement fidelity in relation to the UR3 robotic arm and its Digital Twin.