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Desenvolvimento e implementação de um Digital Twin para um Cobot de 7 eixos através do motor gráfico unity
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Orientador(es)
Resumo(s)
Com a transição para a Indústria 4.0 surgiu a virtualização como um conceito fundamental,
o que incentivava as empresas a criar modelos virtuais de modo a otimizarem
linhas e robôs. Em paralelo, o conceito de digital twin ganhou reputação, isto é, a
troca de informação bidirecional entre o modelo físico (linha ou robô) e o seu modelo
virtual. Esta dissertação tem como foco principal esta evolução tecnológica, onde detalha
o desenvolvimento da digitalização de um cobot de 7 eixos, desde o seu modelo
físico até à criação do modelo virtual. Com isto, para elaborar e implementar um
Digital Twin de um cobot é necessário ter uma especial atenção na diminuição das
discrepâncias entre o modelo real e o virtual. A arquitetura a elaborar visa garantir
que o Digital Twin não represente apenas um modelo digital do cobot, mas também
seja uma ferramenta de validação capaz de efetuar uma comunicação bidirecional
com o sistema físico. Esta implementação será elaborada no motor gráfico Unity
e processada pelo controlador industrial Bosch Rexroth ctrlX. Para a comunicação
entre os componentes físicos e o sistema de visualização será utilizado um router
Teltonika, que será responsável por transmitir os dados industriais através dos protocolos
adequados (como Message Queuing Telemetry Transport (MQTT) ou Open
Platform Communications - Unified Architecture (OPC UA)). A validação da proposta
será realizada mediante um teste final, onde serão avaliados vários parâmetros
críticos (latência e fidelidade geométrica). Para resultado espera-se uma arquitetura
funcional capaz de enviar e alterar parâmetros do cobot através do modelo virtual.
With the transition to Industry 4.0, virtualization emerged as a fundamental concept, encouraging companies to create virtual models in order to optimize production lines and robots. At the same time, the concept of the digital twin gained prominence— that is, the bidirectional exchange of information between the physical model (production line or robot) and its virtual model. This thesis focuses primarily on this technological evolution, detailing the development of the digitization of a 7-axis cobot, from its physical model to the creation of the virtual model. Therefore, to design and implement a Digital Twin of a cobot, special attention must be paid to minimizing the discrepancies between the real and virtual models. The architecture to be developed aims to ensure that the Digital Twin is not merely a digital model of the cobot, but also serves as a validation tool capable of bidirectional communication with the physical system. This implementation will be developed using the Unity graphics engine and processed by the Bosch Rexroth ctrlX industrial controller. For communication between the physical components and the visualization system, a Teltonika router will be used, which will be responsible for transmitting industrial data via the appropriate protocols (such as Message Queuing Telemetry Transport (MQTT) or Open Platform Communications - Unified Architecture (OPC UA)). Validation of the proposal will be carried out through a final test, in which several critical parameters (latency and geometric fidelity) will be evaluated. The expected result is a functional architecture capable of sending and modifying cobot parameters through the virtual model.
With the transition to Industry 4.0, virtualization emerged as a fundamental concept, encouraging companies to create virtual models in order to optimize production lines and robots. At the same time, the concept of the digital twin gained prominence— that is, the bidirectional exchange of information between the physical model (production line or robot) and its virtual model. This thesis focuses primarily on this technological evolution, detailing the development of the digitization of a 7-axis cobot, from its physical model to the creation of the virtual model. Therefore, to design and implement a Digital Twin of a cobot, special attention must be paid to minimizing the discrepancies between the real and virtual models. The architecture to be developed aims to ensure that the Digital Twin is not merely a digital model of the cobot, but also serves as a validation tool capable of bidirectional communication with the physical system. This implementation will be developed using the Unity graphics engine and processed by the Bosch Rexroth ctrlX industrial controller. For communication between the physical components and the visualization system, a Teltonika router will be used, which will be responsible for transmitting industrial data via the appropriate protocols (such as Message Queuing Telemetry Transport (MQTT) or Open Platform Communications - Unified Architecture (OPC UA)). Validation of the proposal will be carried out through a final test, in which several critical parameters (latency and geometric fidelity) will be evaluated. The expected result is a functional architecture capable of sending and modifying cobot parameters through the virtual model.
Descrição
Palavras-chave
Digital Twin cobot Unity MQTT OPC UA Industry 4.0 Indústria 4.0