IIC Journal of Innovation 12th Edition | Page 45

Digital Twin Development for Serial Manipulators: Data Driven Optimized Planning and Sequencing of Tasks production is removed. Hence, the vertical integration from ERP to the associated assets and the horizontal integration of sensors, actuators and those assets on the shop floor are completed. Therefore, a work order of customized sub-assemblies is able to be accomplished efficiently and effectively. assets require synchronizing and transforming to the useful information correspondingly for effective decision- making. In order to ensure this outcome, the integration of asset data at the IoT platform is also essential with the structured data model. All those requirements are fulfilled in MF @ ARTC, and the digital twin application can successfully deliver the high-priority shaft sub-assemblies order. The scalability of this implementation is straightforward as the assets are structured with an AAS model. Therefore, the demonstration of multiple cobots working together in many gearbox assembly lines is feasible for producing more customized gearbox assembly configurations in the future. C ONCLUSION AND F UTURE D IRECTIONS In this article, the feasible use case of a DT model is identified and demonstrated by fulfilling an order containing customized configurations of gearbox shaft sub- assemblies with high efficiency and minimized time-to-market of new products. The customized order is completed with efficient monitoring, planning, simulation, optimization and execution with an MMC- based cobot DT model. Such an implementation with the MMC concept is novel, yet it is generic to apply for any serial manipulator. ACKNOWLEDGMENT This research is supported by the Agency for Science, Technology and Research (A*STAR) under its Advanced Manufacturing & Engineering (AME) Industry Alignment Funding – Pre-positioning funding scheme (Project No: A1723a0035). With the RAMI 4.0 model and AAS structured architecture, the business need of delivering a high-priority customized shaft assembly drives this use case, and the digital facilities at MF @ ARTC Singapore allow successful demonstrations. After realizing the required resources and configurations, the functions of necessary assets are identified and planned for next actions. The communication and information flow between the associated assets on the shop floor are critical to realize the digital twin technology. The real-time data from those - 40 - November 2019