Design and Implementation of Digital Twin System of OCS Maintenance Robot

摘要

Due to the low temperatures and hypoxia along the Sichuan–Tibet Line, manual maintenance work is challenging. This project constructs a digital twin platform using Isaac Sim and performs digital twin operations in conjunction with a robotic arm to repair damaged overhead catenary systems. The catenary maintenance process is simulated within Isaac Sim, and any errors in the maintenance process are corrected using virtual reality (VR) technology, which is integrated into the Isaac Sim virtual environment. Following the virtual maintenance process, the actual catenary system in the real world is repaired through rviz and real-machine collaboration. The implementation of this digital twin system facilitates the completion of catenary maintenance tasks in severe weather conditions prevalent in the plateau region.