title: Ð¦Ð¸ÑÑÐ¾Ð²Ð¾Ð¹ Ð´Ð²Ð¾Ð¹Ð½Ð¸Ðº ÑÐ¾Ð±Ð¾ÑÐ°-Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ° Ð´Ð»Ñ Ð¿ÑÑÐ¼Ð¾Ð³Ð¾ Ð²ÑÑÐ°ÑÐ¸Ð²Ð°Ð½Ð¸Ñ Ð¿Ð¾ ÑÐµÑ Ð½Ð¾Ð»Ð¾Ð³Ð¸Ð¸ DED
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: A digital twin of a manipulator for direct cultivation using DED technology
Creators: name: ÐÑÑÐ°Ð¿Ð¾Ð², ÐÐµÐ½Ð¸Ñ
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2024
Subjects: ÐÐ°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ðµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ
Ð Ð¾Ð±Ð¾ÑÑ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÐµ
ÑÐ¸ÑÑÐ¾Ð²Ð¾Ð¹ Ð´Ð²Ð¾Ð¹Ð½Ð¸Ðº
Ð·Ð°ÑÑÐ°ÑÑ ÑÐ½ÐµÑÐ³Ð¸Ð¸
digital twin
energy efficience

description: Ð Ð°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° ÑÐ¾Ð·Ð´Ð°Ð½Ð¸Ñ ÑÐ¸ÑÑÐ¾Ð²Ð¾Ð³Ð¾ Ð´Ð²Ð¾Ð¹Ð½Ð¸ÐºÐ° Ð½Ð° Ð±Ð°Ð·Ðµ ÑÐµÐ°Ð»ÑÐ½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ° Kawasaki BA006L, ÑÐ¿ÐµÑÐ¸Ð°Ð»Ð¸Ð·Ð¸ÑÑÑÑÐµÐ³Ð¾ÑÑ Ð½Ð° ÑÐ²Ð°ÑÐ¾ÑÐ½ÑÑ Ð¸ Ð°Ð´Ð´Ð¸ÑÐ¸Ð²Ð½ÑÑ ÑÐµÑÐ½Ð¾Ð»Ð¾Ð³Ð¸ÑÑ. Ð ÑÐ°Ð±Ð¾ÑÐµ Ð¾ÑÐµÐ½Ð¸Ð²Ð°Ð»Ð°ÑÑ ÑÐµÐ½ÑÐ°Ð±ÐµÐ»ÑÐ½Ð¾ÑÑÑ ÑÐ¾Ð·Ð´Ð°Ð½Ð¸Ñ ÑÐ¸ÑÑÐ¾Ð²Ð¾Ð³Ð¾ Ð´Ð²Ð¾Ð¹Ð½Ð¸ÐºÐ°. Ð ÑÐ°ÐºÐ¶Ðµ Ñ ÐµÐ³Ð¾ Ð¿Ð¾Ð¼Ð¾ÑÑÑ Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð´Ð¸Ð»Ð°ÑÑ Ð¾ÑÐµÐ½ÐºÐ° Ð²Ð»Ð¸ÑÐ½Ð¸Ñ Ð²Ð·Ð°Ð¸Ð¼Ð½Ð¾Ð³Ð¾ ÑÐ°ÑÐ¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ ÑÐ¾Ð±Ð¾ÑÐ° Ð¸ ÑÑÐ¾Ð»Ð° Ð¸ ÑÐ¿Ð¾ÑÐ¾Ð±Ð° Ð¿ÑÐ¾ÑÐ¾Ð¶Ð´ÐµÐ½Ð¸Ñ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¸ Ð½Ð°Ð¿Ð»Ð°Ð²ÐºÐ¸ Ð½Ð° Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ðµ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÑ Ð¸ Ð·Ð°ÑÑÐ°ÑÑ ÑÐ½ÐµÑÐ³Ð¸Ð¸. Ð ÑÐ¾Ð´Ðµ ÑÐ°Ð±Ð¾ÑÑ ÑÐµÑÐµÐ½Ñ Ð·Ð°Ð´Ð°ÑÐ¸: ÑÐ¾Ð·Ð´Ð°Ð½Ð¸Ñ 3D-Ð¼Ð¾Ð´ÐµÐ»Ð¸, ÑÐ¾Ð·Ð´Ð°Ð½Ð¸Ñ Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ñ Ð¿Ð¾Ð¼Ð¾ÑÑÑ Simscape Multibody Ð¸ Robotic System Toolbox, Ð½Ð°Ð¿Ð¸ÑÐ°Ð½Ð¸Ñ ÐºÐ¾Ð´Ð° ÑÐ¿Ð¾ÑÐ¾Ð±Ð¾Ð² Ð¿ÑÐ¾ÑÐ¾Ð¶Ð´ÐµÐ½Ð¸Ñ Ð·Ð°Ð´Ð°Ð½Ð½Ð¾Ð¹ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¸, ÑÐµÑÐµÐ½Ð¸Ñ Ð¿ÑÑÐ¼Ð¾Ð¹ Ð¸ Ð¾Ð±ÑÐ°ÑÐ½Ð¾Ð¹ Ð·Ð°Ð´Ð°Ñ ÐºÐ¸Ð½ÐµÐ¼Ð°ÑÐ¸ÐºÐ¸ Ð´Ð»Ñ Ð¿Ð¾Ð´Ð°ÑÐ¸ ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐµÐ¼Ñ Ð¾ÑÐ³Ð°Ð½Ñ, Ð° ÑÐ°ÐºÐ¶Ðµ ÑÐµÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð¼Ð¾Ð½Ð¸ÑÐ¾ÑÐ¸Ð½Ð³Ð° Ð¾ÑÑÐ»ÐµÐ¶Ð¸Ð²Ð°ÐµÐ¼ÑÑ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ¾Ð². Ð ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐµ ÑÐ°Ð±Ð¾ÑÑ Ð¸Ð¼ÐµÐµÑÑÑ Ð¿Ð¾Ð»Ð½Ð¾ÑÑÑÑ ÑÑÐ½ÐºÑÐ¸Ð¾Ð½Ð¸ÑÑÑÑÐ¸Ð¹ ÑÐ¸ÑÑÐ¾Ð²Ð¾Ð¹ Ð´Ð²Ð¾Ð¹Ð½Ð¸Ðº Ð·Ð°Ð´Ð°Ð½Ð½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½Ð¾Ð³Ð¾ ÐºÐ¾Ð¼Ð¿Ð»ÐµÐºÑÐ°, Ñ Ð¿Ð¾Ð¼Ð¾ÑÑÑ ÐºÐ¾ÑÐ¾ÑÐ¾Ð³Ð¾ Ð¿ÑÐ¾Ð¸Ð·Ð²ÐµÐ»Ð¸ Ð¾ÑÐµÐ½ÐºÑ Ð²ÑÑÐ¾Ð´Ð½ÑÑ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ¾Ð².
description: The work is devoted to the creation of a digital twin on a real Kawasaki BA006L robot specializing in welding and additive technologies. The work assessed the profitability of creating a digital twin. It was also used to assess the effect of the relative position of the robot and the table and the way the trajectory was passed on dynamic parameters and energy costs. In the course of the work, the tasks were solved: creating a 3D model, creating a mathematical model using Simscape Multibody and Robotic System Toolbox, writing code for ways to pass a given trajectory, solving direct and inverse kinematics problems to supply coordinates to the working body, as well as implementing monitoring of monitored parameters. As a result of the work, there is a fully functioning digital twin of a given robotic complex, with which the output parameters were evaluated.