Design of a compliant device for peg-hole separation in robotic disassembly

Shizhong Su*, Duc Truong Pham, Chunqian Ji, Yongjing Wang, Jun Huang, Wei Zhou, Haolin Wang

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

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Disassembly is the first step in the remanufacturing of a product. This paper presents the design of a robot end-of-arm tool for removing a peg from a hole, a common operation in the disassembly of mechanical products. The device is a compliant structure that enables the peg to be pulled out of a closely fitting hole without jamming or wedging. The device is reminiscent of the Remote Centre Compliance (RCC) mechanism used by assembly robots to insert cylindrical pegs into cylindrical holes with small clearances. However, whereas the RCC mechanism has primarily to withstand compressive forces, the proposed compliant device must resist tensile forces because of the nature of disassembly operations. The paper details a finite-element modelling study of peg removal with and without using the compliant structure. The results obtained show that the structure markedly reduces the stresses at the points of contact between the peg and the hole and, consequently, the risk of damage to the components being disassembled.
Original languageEnglish
Pages (from-to)3011-3019
Number of pages9
JournalThe International Journal of Advanced Manufacturing Technology
Issue number9
Early online date14 Dec 2022
Publication statusPublished - 1 Feb 2023


  • Robotic disassembly
  • RCC device
  • Peg-hole insertion
  • Peg-hole separation
  • Finite-element modelling
  • Automatic remanufacturing
  • Original Article


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