https://cyberleninka.org/article/n/362778.pdf

Robot Assisted Disassembly for the Recycling of Electric Vehicle Batteries

In this study, we propose an intelligent automated disassembly cell for online (real time) selective disassembly. The cell is composed of an industrial robotic manipulator, a camera, range sensing and component segmentation visual algorithms. The cell prototype allows for robotic sensory-driven disassembly under uncertainty. An online genetic algorithm model for selective disassembly is also proposed for optimal and near/optimal disassembly sequencing.

/pdf/a-robotic-driven-disassembly-sequence-generator-for-end-of-10hsg7asat.pdf

A Robotic-Driven Disassembly Sequence Generator for End-Of-Life Electronic Products

In this paper a task-oriented motion planning approach for general cooperative multi-robot systems is proposed. In order to derive a meaningful task formulation, a taxonomy of cooperative multi-arm systems of industrial interest is devised. Then, a workpiece-oriented general formulation for cooperative tasks is proposed, where the user is asked to specify the motion of the system only at the workpiece level, while the motion of the single arms in the system is computed via kinematic transformations between the relevant coordinate frames. Based on this task formulation, an instructions set is derived to extend classical programming languages for industrial robots to general multi-robot systems. In order to test the approach, a software environment has been built, composed of an interpreter of the language and the motion planning software.

Task-oriented motion planning for multi-arm robotic systems

Remanufacturing has gained increasing attention due to its economic, environmental and societal benefits as well as its contribution to the sustainability of natural resources. Disassembly is the f...

/pdf/disassembly-sequence-planning-recent-developments-and-future-59oir4soaf.pdf

Disassembly sequence planning: Recent developments and future trends:

Application of cognitive robotics in disassembly of products

Flexible multisensorial systems are a very important issue in the current industry when disassembling and recycling tasks have to be performed. These tasks can be performed by a human operator or by a robot system. In the current paper a robotic system to perform the required tasks is presented. This system takes into consideration the distribution of the necessary tasks to perform the disassembly of a component using several robots in a parallel or in a cooperative way. The algorithm proposed to distribute the task among robots takes into consideration the characteristics of each task and the sequence that needs to be followed to perform the required disassembly of the product. Furthermore, this paper presents a disassembly system based on a sensorized cooperative robots interaction framework for the planning of movements and detections of objects in the disassembly tasks. To determine the sequence of the disassembly of some products, a new strategy to distribute a set of tasks among robots is presented. Subsequently, the visual detection system used for detecting targets and characteristics is described. To carry out this detection process, different well known strategies, such as matching templates, polygonal approach and edge detection, are applied. Finally, a visual-force control system has been implemented in order to track disassembly trajectories. An important aspect of this system is the processing of the sensorial information in order to guarantee coherence. This aspect allows the application of both sensors, visual and force sensors, co-ordinately to disassembly tasks. The proposed system is validated by experiments using several types of components such as the covers of batteries and electronic circuits from toys, and drives and screws from PCs.

/pdf/flexible-multi-sensorial-system-for-automatic-disassembly-531ma4u192.pdf

Carolina Díaz

Papers

Flexible multi-sensorial system for automatic disassembly using cooperative robots

Automatic cooperative disassembly robotic system: Task planner to distribute tasks among robots

Task planner for a cooperative disassembly robotic system

Assembly/disassembly strategies for service applications

Grasping points for handle objects in a cooperative disassembly system