Robotic Disassembly Sequence Planning Considering Robotic Collision Avoidance Trajectory in Remanufacturing

摘要

Remanufacturing has enormous economic and environmental benefits in terms of resource conservation and environmental protection. Disassembly, as an essential step in remanufacturing, is always manually executed, it has the disadvantages of high labor intensive, time consuming and low efficiency while robotic disassembly can cover the shortages of manual disassembly. During the robotic disassembly process, considering the structure and movement characteristics of the industrial robot, the industrial robot need to perform collision avoidance movements considering the obstacle caused by the End-of-Life (EoL) product. The moving time considering the robotic collision avoidance trajectory is a non-negligible part of total disassembly time. In this paper, robotic disassembly sequence planning (RDSP) considering robotic collision avoidance trajectory is proposed. This method is used to obtain the collision avoidance trajectory and the moving time between different disassembly points by the robotic collision avoidance model established in this paper. Afterwards, an optimized discrete bee algorithm (ODBA) is used to generate the optimal disassembly sequence to minimize the total disassembly time. Finally, case studies based on a gear pump verify the effectiveness of proposed methods.