Design and Research of Digital Twin System for Hybrid Robot

Based on the digital twin technology, this paper studies the mechanism modeling and monitoring method of a five degrees of freedom hybrid robot, establishes the forward and inverse kinematics models of the robot by using the intermediate parameter method, analyzes the end error by introducing the idea of kinematic equivalent chain, and proposes to extract the flutter characteristics based on the variational mode decomposition. Application modules are designed to monitor the working state of the robot.