Application of a multi-head tool for robotic disassembly

Abstract

Abstract The application of robotic disassembly or disassembly automation in industry is currently limited due to technological constraints on handling uncertainties in end-of-life product variation and condition. As a result, extensive research focuses on closing the gap between the need for robotic disassembly and the technological capabilities needed to deliver it. A multi-head tool utilizing a screwdriver, hole saw, and angle grinder has been developed and tested for the application of robotic disassembly of LCD screens. Each of the three tools is mounted on the wrist of an ABB IRB 140 industrial robot arm orthogonal to each other such that the robot need only rotate to apply a different tool head. The system builds upon a previous system which used only destructive and semi-destructive cutting methods, by introducing a force/torque sensor to guide force control for the non-destructive unscrewing skill and the less destructive drilling skill as options for the removal of screws. These alternative actions allow the system to deal with variations and unexpected outcomes of disassembly such as failures to disestablish a fastener with a particular skill, and if all alternative actions are exhausted, user demonstration is called upon.