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.
|Title of host publication||Industry 4.0 - Shaping The Future of The Digital World - Proceedings of the 2nd International Conference on Sustainable Smart Manufacturing, S2M 2019|
|Editors||Paulo Jorge da Silva Bartolo, Fernando Moreira da Silva, Shaden Jaradat, Helena Bartolo|
|Number of pages||6|
|Publication status||Published - 2019|
|Event||2nd International Conference on Sustainable Smart Manufacturing, S2M 2019 - Manchester, United Kingdom|
Duration: 9 Apr 2019 → 11 Apr 2019
|Name||Industry 4.0 - Shaping The Future of The Digital World - Proceedings of the 2nd International Conference on Sustainable Smart Manufacturing, S2M 2019|
|Conference||2nd International Conference on Sustainable Smart Manufacturing, S2M 2019|
|Period||9/04/19 → 11/04/19|
Bibliographical noteFunding Information:
This research was supported by Innovate UK (Contract Ref. 103667) and the EPSRC (Grant No. EP/ N018524/1). We appreciate the provision of the automotive turbochargers by Reco Turbo Ltd. for the experimental work.
© 2021 Taylor & Francis Group, London.
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Industrial and Manufacturing Engineering
- Artificial Intelligence