A smart manufacturing system (SMS) is a multi-field physical system with complex couplings among various components. Usually, designers in various fields can only design subsystems of an SMS based on the limited cognition of dynamics. Conducting SMS designs concurrently and developing a unified model to effectively imitate every interaction and behavior of manufacturing processes are challenging. As an emerging technology, digital twins can achieve semi-physical simulations to reduce the vast time and cost of physical commissioning/reconfiguration by the early detection of design errors/flaws of the SMS. However, the development of the digital twins concept in the SMS design remains vague. An innovative Function-Structure-Behavior-Control-Intelligence-Performance (FSBCIP) framework is proposed to review how digital twins technologies are integrated into and promote the SMS design based on a literature search in the Web of Science database. The definitions, frameworks, major design steps, new blueprint models, key enabling technologies, design cases, and research directions of digital twins-based SMS design are presented in this survey. It is expected that this survey will shed new light on urgent industrial concerns in developing new SMSs in the Industry 4.0 era.

智能制造系统（SMS）是在各个组件之间具有复杂耦合的多领域物理系统。通常，各个领域的设计人员只能基于对动态的有限认知来设计SMS的子系统。同时进行SMS设计并开发统一模型以有效模仿制造过程的每个交互和行为都具有挑战性。作为一种新兴技术，数字孪生可以通过早期检测SMS的设计错误/缺陷来实现半物理仿真，以减少物理调试/重新配置的大量时间和成本。但是，SMS设计中数字双胞胎概念的发展仍然模糊。提出了一种创新的功能-结构-行为-控制-智能-性能（FSBCIP）框架，以基于Web of Science数据库中的文献搜索，回顾数字孪生技术是如何集成到并促进SMS设计的。本次调查介绍了基于数字双胞胎的SMS设计的定义，框架，主要设计步骤，新的蓝图模型，关键支持技术，设计案例以及研究方向。预计该调查将为工业4.0时代开发新SMS时迫切需要解决的工业问题提供新的思路。本次调查介绍了基于数字双胞胎的SMS设计的研究方向。预期该调查将为工业4.0时代开发新SMS时迫切需要解决的工业问题提供新的思路。本次调查介绍了基于数字双胞胎的SMS设计的研究方向。预计该调查将为工业4.0时代开发新SMS时迫切需要解决的工业问题提供新的思路。