面向人本智造的人机协作：发展演变、融合应用与未来展望

doi:10.3901/JME.2025.15.004

机械工程学报 ›› 2025, Vol. 61 ›› Issue (15): 4-20.doi: 10.3901/JME.2025.15.004

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面向人本智造的人机协作：发展演变、融合应用与未来展望

张洁^1,2,3, 丁鹏飞^1,2,3,4, 王柏村⁵, 张朋^1,2,3, 吕佑龙^1,2,3, 汪俊亮^1,2,3

1. 东华大学纺织工业人工智能技术教育部工程研究中心上海 201620;
2. 东华大学人工智能研究院上海 201620;
3. 东华大学上海工业大数据与智能系统工程技术研究中心上海 201620;
4. 东华大学机械工程学院上海 201620;
5. 浙江大学机械工程学院杭州 310058

收稿日期:2025-01-17 修回日期:2025-05-28 发布日期:2025-09-28
作者简介:张洁(通信作者)，女，1963年出生，博士，教授，博士研究生导师。主要研究方向为智能制造与机器人、具身智能、人机协作、大数据智能、强化学习、机器认知学习和复杂系统建模与控制。E-mail：mezhangjie@dhu.edu.cn;丁鹏飞，男，1994年出生，博士研究生。主要研究方向为人机协作装配和人本智造。E-mail：pengfeiding@mail.dhu.edu.cn;王柏村，男，1990年出生，博士，研究员，博士研究生导师。主要研究方向为人本智造、人-信息-物理系统、数字孪生。E-mail：baicunw@zju.edu.cn;张朋，男，1988年出生，博士，副教授，硕士研究生导师。主要研究方向为制造系统优化调度与控制、智能优化算法、复杂系统建模与调度、智能制造与机器人、具身智能、人机协作。E-mail：zhangp88@dhu.edu.cn;吕佑龙，男，1988年出生，博士，副教授，博士研究生导师。主要研究方向为制造系统优化调度与控制、智能优化算法、复杂系统建模与调度、智能制造与机器人和人机协作。E-mail：lvyoulong@dhu.edu.cn;汪俊亮，男，1991年出生，博士，副研究员，硕士研究生导师。主要研究方向为智能制造系统、工业大数据、智能制造与机器人和人机协作。E-mail：junliangwang@dhu.edu.cn
基金资助:
国家自然科学基金面上(52375485);国家自然科学基金(52005099,52205542);国家自然科学基金区域创新发展联合基金重点(U24A20262); 上海市2025年度“科技创新行动计划”软科学研究(25692107300)资助项目。

Human-robot Collaboration for Human-centric Smart Manufacturing: Developmental Evolution, Integration Applications, and Future Perspectives

ZHANG Jie^1,2,3, DING Pengfei^1,2,3,4, WANG Baicun⁵, ZHANG Peng^1,2,3, Lü Youlong^1,2,3, WANG Junliang^1,2,3

1. Engineering Research Center of Artificial Intelligence for Textile Industry Ministry of Education, Donghua University, Shanghai 201620;
2. Institute of Artificial Intelligence, Donghua University, Shanghai 201620;
3. Shanghai Engineering Research Center of Industrial Big Data and Intelligent System, Donghua University, Shanghai 201620;
4. College of Mechanical Engineering, Donghua University, Shanghai 201620;
5. School of Mechanical Engineering, Zhejiang University, Hangzhou 310058

Received:2025-01-17 Revised:2025-05-28 Published:2025-09-28

摘要/Abstract

摘要： 欧盟工业5.0赋予了智能制造新的时代内涵——以人为本，促进了人本智造(以人为本的智能制造)的快速发展。作为人本智造的核心范式之一，人机协作已成为近年来工业制造领域的研究热点。因此，对人机协作的过去和未来进行全面分析：梳理人机关系发展与演变，探讨人机协作模式的迭代与融合，归纳人机协作在多个领域的典型应用，展望人机协作未来发展愿景与技术突破方向。从工业化发展历程与人机共情程度的耦合关联中，阐述人机关系的发展与演变过程。基于人机关系及其协作特点，对制造系统人机协作模式的迭代与融合进行分析与总结。归纳人机交互、人机协同和人机共生三种人机协作典型模式在产品装配、机器人控制、自主驾驶等领域的应用，讨论不同人机协作模式在实际应用中存在的不足与挑战。展望人机协作未来愿景与发展方向，探讨未来人机协作时代需要突破的新技术、新理论，以期促进制造系统人机协作迈向人本智造新的层级。

关键词: 人本智造, 人机协作, 人机关系, 制造系统

Abstract: The European Union’s Industry 5.0 initiative introduces a new era of intelligent manufacturing that emphasizes a human-centric approach, driving the rapid advancement of human-centric manufacturing（human-centered smart manufacturing）. As one of the core paradigms of this concept, human-robot collaboration（HRC） has emerged as a key research focus in the industrial manufacturing domain in recent years. This study conducts a comprehensive analysis of the past and future of HRC, focusing on the following aspects: reviewing the development and evolution of human-machine relationships, exploring the iterative progression and integration of HRC models, summarizing the typical applications of HRC across various fields, and envisioning future development goals and technological breakthroughs. The evolution of human-machine relationships is elucidated by examining the coupling between industrial development trajectories and the increasing empathy between humans and machines. Based on the characteristics of human-machine relationships and collaboration, the iterative advancements and integration of HRC models in manufacturing systems are analyzed and summarized. Three typical modes of HRC—human-machine interaction, human-machine coordination, and human-machine symbiosis—are reviewed for their applications in fields such as product assembly, robotic control, and autonomous driving. The shortcomings and challenges of these modes in practical applications are also discussed. Finally, the future vision and developmental directions of HRC are outlined, with an emphasis on the new technologies and theories needed to overcome existing challenges in the era of advanced human-robot collaboration. These efforts aim to propel the manufacturing system toward a new level of human-centric intelligent manufacturing.

Key words: human-centric smart manufacturing, human-robot collaboration, human-robot relationship, manufacturing systems

中图分类号:

张洁, 丁鹏飞, 王柏村, 张朋, 吕佑龙, 汪俊亮. 面向人本智造的人机协作：发展演变、融合应用与未来展望[J]. 机械工程学报, 2025, 61(15): 4-20.

ZHANG Jie, DING Pengfei, WANG Baicun, ZHANG Peng, Lü Youlong, WANG Junliang. Human-robot Collaboration for Human-centric Smart Manufacturing: Developmental Evolution, Integration Applications, and Future Perspectives[J]. Journal of Mechanical Engineering, 2025, 61(15): 4-20.

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面向人本智造的人机协作：发展演变、融合应用与未来展望

Human-robot Collaboration for Human-centric Smart Manufacturing: Developmental Evolution, Integration Applications, and Future Perspectives

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