| 基于机械臂和数字孪生工厂构建的木构智能建造技术 |
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| 引用本文：王萌博1，张婕1，高天1，翟宁1，乔文涛1,2.基于机械臂和数字孪生工厂构建的木构智能建造技术[J].计算技术与自动化,2026,(2):126-133 |
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| 中文摘要:木结构建筑以其悠久的历史和复杂的结构体系而著称。基于六轴机械臂的高度灵活性和开源硬件的扩展性，开发了一套基于机械臂的木构智能建造技术。首先，为有效解决多工具切换带来的时间浪费和误差累积问题，提出了一种木构协同加工装置。其次，通过基于可视化设计和编译多工具协同工作程序及交互控制系统，实现了木构协同加工装置与机械臂系统的协同运作。通过实际建造鲁班桥缩尺模型，其建造误差控制在2 mm以内，相比传统建造方法时间缩短了20.5%，验证了该技术的可行性和实用性。最后，基于数字孪生技术设计并搭建了木构智能建造数字工厂和MES数字管理系统，实现了对物料、设备和生产全过程的生命周期管理。 |
| 中文关键词:智能建造 木结构 机械臂 数字孪生 |
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| Research on Intelligent Construction Technology of Wood Structure Based on Robotic Arm and Construction of Digital Twin Factory |
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| Abstract:The timber structure building is famous for its long history and complex structural system. Based on the high flexibility of the six-axis manipulator and the scalability of open source hardware, this study developed a set of intelligent wood construction technology based on the manipulator. Firstly, in order to effectively solve the problem of time waste and error accumulation caused by multi-tool switching, a wood structure collaborative processing device is proposed. Secondly, through the visual design and compilation of multi-tool collaborative work program and interactive control system, the collaborative operation of wood structure collaborative processing device and manipulator system is realized. Through the actual construction of the scale model of Luban bridge, the construction error is controlled within 2 mm, which is 20.5 % shorter than the traditional construction method, and the feasibility and practicability of the technology are verified. Finally, based on the digital twin technology, a wood-based intelligent construction digital factory and MES digital management system were designed and built to realize the life cycle management of materials, equipment and the whole production process. |
| keywords:intelligent construction timber structure robotic arm digital twin |
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