APPLICATION OF DIGITAL TWIN TECHNOLOGY IN REAL-VIRTUAL SIMULATION OF A COAXIAL SPHERICAL PARALLEL MECHANISM

Nguyễn Tấn Nó; Nguyễn Huy Thảo Anh; Đào Nguyễn Anh Tuấn; Mai Nhật Thiên

doi:10.34238/tnu-jst.12058

APPLICATION OF DIGITAL TWIN TECHNOLOGY IN REAL-VIRTUAL SIMULATION OF A COAXIAL SPHERICAL PARALLEL MECHANISM

About this article

Received: 15/02/25 Revised: 27/02/25 Published: 27/02/25

Authors

1. Nguyen Tan No, Vinh Long University of Technology Education
2. Nguyen Huy Thao Anh, Vinh Long University of Technology Education
3. Dao Nguyen Anh Tuan, Vinh Long University of Technology Education
4. Mai Nhat Thien , Vinh Long University of Technology Education

Abstract

This paper presents a real-time simulation method that applies Digital twin technology to the simulation of a coaxial spherical parallel mechanism. The paper details the steps involved in constructing the kinematic model, computer-aided design, and establishing a real-virtual control interface using MATLAB/Simscape Multibody software presented in detail in the paper. The research results simulated the Roll-Pitch-Yaw angle of the robot of working plane corresponding to the rotation angles of the input joint corresponds to 16 movements with the resulting angle varying from 0⁰ to 30⁰. In addition, the experimental results are synchronized with each other at the initial time of the three dimensional experimental model and the simulation model at the 12th second with a delay between the Pitch angle. However, the implementation results have the largest deviation (MSEroll = 3.5⁰; MSEpitch = 6.5⁰; MSEyaw = 6.03⁰) in the range of 16th to 32nd seconds. The research team built a virtual reality simulation model for a spherical parallel robot with high synchronization at the most suitable cost. Furthermore, the results of this research are aimed at the fields of automotive technology, missile technology and submarines.

Keywords

Spherical coaxial manipulator; Digital twin; Robot modeling; Simscape multibody; Real-time simulation

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References

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DOI: https://doi.org/10.34238/tnu-jst.12058

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