ReseArch on Operation Path Planning of Mobile Robotic Arm Based on Digital Twin

Aiming at the problem of low level of mechanization, automation and intelligence in in the construction of substation engineering, a mobile robot arm for intelligent installation of cable trench cover was designed, and the robot arm operation path planning research was conducted based on the digital twin. In order to improve the efficiency and success rate of autonomous path planning in the construction environment, the kinematics model of the robotic arm is constructed by D-H method and analytical method; and a digital twin containing physical information was built, and path planning simulations of algorithms such as RRT and RRT-Connect were carried out. The experimental simulation results show that the RRT-Connect algorithm is superior to other algorithms in terms of efficiency and success rate, which verifies the feasibility of path planning based on digital twins and provides technical support for improving the construction efficiency of substation projects.