Abstract
Product variation and the unavailability of end-of-life product and condition information makes automation of disassembly a significant challenge. Several research attempts have been made employing different techniques to approach uncertainties in the disassembly process automatically, but it has made little influence on industrial applications. This research presents a robotic disassembly system aimed at addressing these issues. The system is tested on disassembly of various models of LCD screens with promising results, limited by sensing and model inaccuracies which were able to be resolved by user intervention. Specific product information obtained from user demonstration is supplemented with background knowledge relating actions to the fasteners to be disestablished. This goal-driven approach allows the substitution of dissimilar tools––namely a screwdriver, hole saw, and angle grinder––along with flexible reactive planning in the case of operation failures. A method of assessing and selecting desirable disassembly actions based on geometrical estimations of destructiveness is implemented. Finally, an improved method for the evaluation of systems employing (semi-) destructive disassembly is proposed.
Published Version
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