Abstract: Humanistic intelligent manufacturing is an important direction for the development of intelligent manufacturing in the future,and safe and credible human-robot collaboration is the basis for realizing humanistic intelligent manufacturing.The idea of virtual reflection and virtual control of reality emphasized by digital twin matches the human-robot collaboration needs,which provides new ideas for the new paradigm shift of human-robot collaboration for human-centered intelligent manufacturing.At present,there is a lack of research on the modeling method of the human-robot collaboration digital twin model to meet the application requirements of digital twin technology in the field of human-robot collaboration.In view of this,a digital twin modeling technology was proposed for human-robot collaborative intelligent manufacturing,and analyzes the modeling mechanism of the human-robot collaborative model was analyzed from two aspects:the robot model and the collaborative personnel model.The characteristics of the robot model and collaborative human model were analyzed,and the basic composition structure of the robot model and collaborative human model was proposed on this basis,which provided theoretical support for the construction of the human-robot collaborative digital twin model.A framework for constructing a human-robot collaborative model based on axiomatic design theory was established,and the modeling steps of the human-robot collaborative digital twin model were proposed.Taking the construction process of the human-robot collaborative capture digital twin model as an example,the construction process of the model was introduced in detail,and the feasibility of the proposed method was verified.

Key words: humanistic intelligent manufacturing, human-robot collaboration, digital twin, axiomatic design, modeling method

摘要： 人本智造是未来智能制造发展的重要方向,安全可信的人机协作是实现人本智造的基础。数字孪生所强调的以虚映实和以虚控实的思想与以人为核心的人机协作需求相匹配,为面向人本智造的人机协作新范式转变提供了新思路。目前欠缺关于人机协作数字孪生模型建模方法的研究,以满足数字孪生技术在人机协作领域中的应用需求。提出面向人机协作智造的数字孪生建模技术,从机器人模型和协作人员模型两方面展开人机协作模型建模机理分析。首先分析了机器人模型和协作人员模型具备的特征,在此基础上提出机器人模型和协作人员模型的基本组成结构,为人机协作数字孪生模型构建提供理论支持;建立了基于公理化设计理论的人机协作模型构建框架,提出了人机协作数字孪生模型的建模步骤;最后,以人机协作抓取数字孪生模型的构建过程为例,详细介绍了模型的构建过程,验证了所提方法的可行性。

关键词: 人本智造, 人机协作, 数字孪生, 公理化设计, 建模方法