Journal
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
Volume 78, Issue -, Pages -Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.rcim.2022.102392
Keywords
Robotic disassembly; Fuzzification; Sequence planning; Dual-loop self-evolving; Uncertain interference
Funding
- National Key Research and Development Program of China [2018YFB1700603]
- National Natural Science Foundation of China (NSFC) [62173017]
- Royal Society [IEC\NSFC\181018]
- Engineering and Physical Sciences Research Council (EPSRC) [EP/N018524/1, EP/W00206X/1]
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Robotic disassembly sequence planning (DSP) is a research area focused on achieving autonomous disassembly with high efficiency and low cost in remanufacturing and recycling applications. Uncertain interference conditions and a lack of tools to handle them are observed challenges in the field. To address this, the paper proposes a new DSP method called fuzzy disassembly sequence planning (FDSP) that can adapt to uncertain interference conditions.
Robotic disassembly sequence planning (DSP) is a research area that looks at the sequence of actions in the disassembly intending to achieve autonomous disassembly with high efficiency and low cost in remanufacturing and recycling applications. A piece of key input information being factored in DSP is the interference condition of a product, i.e., a mathematical representation of the spatial location of components in an assembly, usually in the form of a matrix. An observed challenge in the area is that the interference condition can be uncertain due to variations in the end-of-life conditions, and there is a lack of tools available in DSP under uncertain interference. To address this challenge, this paper proposes a new DSP method that can cope with uncertain interference conditions enabled by the fuzzification of DSP (FDSP). This new approach in the core is a fuzzy and dynamic modeling method in combination with an iterative re-planning strategy, and FDSP offers the capability for DSP to adapt to failures and self-evolve online. Three products are given to demonstrate FDSP.
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