Digital Twin Development for Serial Manipulators: Data Driven Optimized Planning and Sequencing of Tasks
Figure 1: Essential Components of a Digital Twin
line, warehouse, Coordinate Measuring
Machine (CMM), automated guided vehicle
(AGV), Manufacturing Intelligence Control
Room (MICR), Virtual Manufacturing Lab
(VML) and more. The entire workflow of
gearbox production running in MF @ ARTC is
designed and based on the Reference
Architecture Model Industrie 4.0 (RAMI 4.0)
as shown in Figure 2. The RAMI 4.0 consists
of a three-dimensional coordinate system
that describes all important aspects of
Industrie 4.0, such as hierarchy levels, life
cycle and value stream and layers. The
hierarchy levels represent the different
functionalities in the MF. The life cycle axis
represents the life cycle of facilities and
products for the life cycle management
while the vertical layer axis describes the
breakdown properties of a machine or
complex system. 17 The vertical architecture
dimension is made up of six layers and
describes the top-down approach derived
D IGITAL T WIN FOR S ERIAL
M ANIPULATORS
In Singapore, manufacturing is a key pillar of
the economy. In order to remain competitive
in
manufacturing,
the
Singapore
government invested in R&D and promoting
technology adaption towards the Future of
Manufacturing (FoM) to open up new
manufacturing business models. The Agency
for Science, Technology and Research
(A*STAR) led the implementation of FoM in
Singapore. A*STAR has created two Model
Factories, namely Model Factory @ SIMTech
and Model Factory @ ARTC. 16
The full gearbox production is carried out in
Model Factory (MF) @ ARTC testbeds. The
testbeds include the gearbox shaft
fabrication process by Computer Numerical
Control (CNC) machines, gearbox assembly
16
A*STAR. “Future of Manufacturing Initiative”. September 2017 2014. Last visit March 2019. Available online:
https://bit.ly/2Y4Wac2.
17
Schweichhart, K., Reference Architectural Model Industrie
https://ec.europa.eu/futurium/en/system/files/ged/a2-schweichhart-
reference_architectural_model_industrie_4.0_rami_4.0.pdf.
IIC Journal of Innovation
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4.0
(RAMI
4.0),
Dr.
Karsten
Schweichhart,