A screw unfastening method for robotic disassembly

J. Huang, D. T. Pham, R. Li, K. Jiang, M. Qu, Y. Wang, S. Su, C. Ji

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Disassembly automation is critical to enabling autonomous remanufacturing of the returned end-of-life products in a circular economy. Screw unfastening is a disassembly method that still poses difficulty to robotic disassembly systems. This paper presents a new method of automated screw unfastening for robotic disassembly by combining the strategies of torque control, position control and active compliance. The paper outlines the setup, process and control procedure of the proposed robotic screw unfastening technique. It then presents an experiment to show a practical implementation of the proposed method. The experiment involved the dismantling of screws from an automotive turbocharger by an industrial collaborative robot. The test results demonstrate the effectiveness of the proposed method.

Original languageEnglish
Title of host publicationIndustry 4.0 - Shaping The Future of The Digital World - Proceedings of the 2nd International Conference on Sustainable Smart Manufacturing, S2M 2019
EditorsPaulo Jorge da Silva Bartolo, Fernando Moreira da Silva, Shaden Jaradat, Helena Bartolo
PublisherCRC Press/Balkema
Pages95-100
Number of pages6
ISBN (Electronic)9780367422721
Publication statusPublished - 2019
Event2nd International Conference on Sustainable Smart Manufacturing, S2M 2019 - Manchester, United Kingdom
Duration: 9 Apr 201911 Apr 2019

Publication series

NameIndustry 4.0 - Shaping The Future of The Digital World - Proceedings of the 2nd International Conference on Sustainable Smart Manufacturing, S2M 2019

Conference

Conference2nd International Conference on Sustainable Smart Manufacturing, S2M 2019
Country/TerritoryUnited Kingdom
CityManchester
Period9/04/1911/04/19

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering
  • Artificial Intelligence

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