Design a Coffee-Making Process Unit Using Virtual Twin and Virtual Commissioning

This paper explores the design and implementation of a digital twin for machine handling the coffee-making process using a FANUC MATE 200iD/4s robotic arm. The digital twin was meticulously constructed from a CAD model provided by the robot manufacturer, ensuring precise replication of the robot's mass distribution and dynamic properties critical for accurate simulation. The production process covers various stages of coffee preparation, including grinding, tamping, placing the portafilter in the machine, brewing, and cleaning, all executed by a single, universally designed gripper. Both the gripper and other equipment, such as the coffee machine, were modeled in SolidWorks and validated in RoboGuide software using a virtual commissioning technique. The system allows continuous synchronization between the digital model and the physical robot, including updates on process variables such as waste bin status, coffee cup availability, and water levels. The chosen communication architecture, which utilized Modbus TCP for its flexibility, ensures dynamic adjustments throughout the process. The virtual commissioning process helped to optimize the robotic workflow, reduced errors, and significantly enhanced system efficiency. The findings confirm the important role of digital twin and digital commissioning methods in design an automation system, moreover, it shows the applicability of heterogeneous simulation software.