數位孿生於機械手臂取放料虛實整合之研究

Study of Digital Twin in Virtual and Real Robot Arm Picking and Placing

楊佳儒(Chia-Ju Yang)

指導教授 ： 楊智旭

淡江大學/工學院/機械與機電工程學系碩士班/碩士(2021年)

https://doi.org/10.6846/TKU.2021.00267

摘要

本論文以數位孿生作為工業4.0中新穎技術之研究，數位孿生是一種虛實整合應用技術，將實體製造設備與虛擬數位模型連接在一起，透過分析數據和監控系統，預測設備何時將發生重大故障問題，可以防止工廠停機，開發新製程，甚至使用相關數據模擬規劃未來。
數位孿生是透過通訊協定OPC UA (Open Platform Communications Unified Architecture)開發的技術。OPC UA是用於工業自動化的通訊規範，而此規範是公開且免費，應用在設備上無需授權費，且它的優點在於具備跨平台，不受限於特定作業系統或程式語言，在安全方面也涵蓋認證、授權以及加密的資料整合性。
本研究目標是以台灣台達電子工業股份有限公司的工業手臂’DELTA _DRS40L’做為數位孿生技術的應用，在模擬軟體部分選用Visual Components ，是開發虛擬數位模型的最佳軟體，其中使用 OPC UA 服務器在整個工作過程中共享數據，最終成功地將虛擬與物理的關係建立，達成機械手臂於虛實整合的技術。

關鍵字

數位孿生 ； OPC UA ； PLC ； DELTA ； Visual Components(VC)

並列摘要

This paper uses Digital twin as a novel technology research in Industry 4.0. Digital twins is a virtual-real integration application technology that connects physical manufacturing equipment with virtual digital models. Through data analysis and monitoring systems, it can predict when a major failure of the equipment will occur. We can prevent plant shutdowns, develop new processes, and even use relevant data to simulate and plan for the future.
Digital twin is a technology developed through the communication protocol OPC UA (Open Platform Communications Unified Architecture). OPC UA is a communication specification for industrial automation. This specification is open and free. It does not require license fees when applied to the device. It has the advantage of being cross-platform, not limited to a specific operating system or programming language, and in terms of security. It also covers the integration of authentication, authorization, and encryption.
The goal of this research is to use the industrial arm’ DELTA DRS40L’ of Taiwan DELTA Electronics Industry Co., Ltd. as the application of digital twin technology. Visual Components are selected in the simulation software part, which is the best software for developing virtual digital models. Among them, OPC UA is used. The server shares data throughout the work process, and establishes the relationship between virtual and physical. Finally it achieves a technology that integrates the virtual and real robotic arm.

並列關鍵字

Digital twin ； OPC UA ； PLC ； DELTA ； Visual Components(VC)

參考文獻

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