Digital Twin for Robotic Arms

Chew, Simon Chun Kei (2024) Digital Twin for Robotic Arms. Final Year Project (Bachelor), Tunku Abdul Rahman University of Management and Technology.

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Abstract

The emergence of Industry 4.0 and the concept of "smart manufacturing" have fundamentally altered industrial landscapes by placing an emphasis on compatibility and interoperability amongst companies’ automation systems. Advanced robotics and the idea of digital twins (DT) have made significant headway in this field. DT, which is a virtual representation of physical objects, relies on software, infrastructure, and algorithms to deliver real-time insights and decision assistance. Manufacturing businesses are moving towards sustainability in response to rising environmental concerns, which calls for a careful balancing of various FESG (financial, environmental, social, and governance) factors. DT technology is ready to update current model-based methods by providing a framework for real-time evaluation that is demand-oriented. In this study, we aim to create a digital twin model for a xArm6 robotic arm using advanced simulation software, 3DExperience, integrated with the xArm Python-SDK for seamless communication and control. The objectives encompass the development of a virtual representation that mirrors the physical arm’s behavior, the establishment of a simulation environment for testing and optimization, and the execution of experiments to validate the digital twin’s performance. Challenges encountered during the development process include integration complexities, latency issues, and the optimization of simulation parameters. By addressing these challenges and leveraging the capabilities of the 3DExperience software and xArm Python-SDK, we aim to demonstrate the feasibility and effectiveness of digital twin technology in enhancing robotic arm systems’ performance and functionality. The project also incorporates Gantt charts for effective project management and organisation.