Journal
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY
Volume 36, Issue 11-12, Pages 1221-1233Publisher
SPRINGER LONDON LTD
DOI: 10.1007/s00170-007-0930-2
Keywords
disassembly path planning; selective disassembly; disassembly planning; rapid-growing random trees
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The planning of disassembly sequences requires the identification of the extraction trajectories of the different parts or assemblies. The failure to find these trajectories can make a planner fail to generate correct sequences or not evaluate potential solutions. In this paper, we analyze the disassembly path-planning problem, its relation to the general path-planning problem and the main differences between both of them, such as the lack of a target configuration. We present a modification of the rapid-growing random tree-based algorithm (RRT) that addresses these differences. RRTs are easily parallelized so we analyze two different parallelization methods using dual-core-based CPUs as well as the impact of the target selection probability of the algorithm in execution time. The method described is applied to several real-world and synthetic examples.
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