Abstract: Highlights•To better realize digital twins, a theoretical model for modular digital twin with a two-layer structure is proposed.•A graphics-based, modular digital twin software framework is proposed for the rapid construction of production lines.•The models, interfaces, and programs in the framework are encapsulated into reusable modules for direct use.•The digital twin can be built intuitively through graphical interfaces, which can be oriented to non-technical users.
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