Abstract
The article presents the results of the development and research of a digital twin of a training manipulator with two joints 230 and 170 mm long and a working range of 170-400 mm. The aim of the work is to create a virtual model that allows the kinematic and functional behaviour of the real device to be adequately reproduced. Additionally, to evaluate its potential for use in the educational process. The methods used include mathematical modelling of direct kinematics, numerical analysis of the working area, and visualisation of the motion trajectory. The results showed that the root mean square positioning error of the digital twin does not exceed 3- 4 mm, which is less than 1% of the maximum working radius and confirms the high accuracy of the model. The working area of the manipulator, calculated using the random approximation method, fully corresponds to the passport limitations of the real device. The pedagogical experiment showed that the use of a digital twin significantly improves students' understanding of the principles of robotics and manipulator kinematics. The developed model can be used as an effective tool for conducting laboratory work, training specialists in the field of automation and robotic systems, as well as for subsequent expansion to include dynamic characteristics and automatic motion planning algorithms.