Interlocking Problem in Automatic Disassembly Planning and Two Solutions

Feiying Lan, Yongjing Wang Wang*, Duc Pham, Jiayi Liu, Jun Huang, Chunqian Ji, Shizhong Su, Wenjun Xu, Quan Liu, Zude Zhou

*Corresponding author for this work

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

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In remanufacturing, disassembly is the first step to dismantle the end-of-life products into components, which is labour-intensive due to the variability of returned products. Compared to manual disassembly, robotic disassembly is a promising technique to automate remanufacturing processes, which liberates the human labours from the repetitive disassembly operations. However, it requires predesigned disassembly sequences which are planned manually. Several planning methods have been proposed to remove removable parts sequentially. However, those methods can fail in the disassembly sequence planning task if the product has interlocked components. This paper first explains the interlocking problem and then proposes two solutions. One solution is to identify subassemblies by using ‘separable pairs’. It complements conventional sequential disassembly planning methods and enables automatic detection of subassemblies online. Another method is based on a divide-and-conquer disassembly strategy which allows subassemblies to be detected before disassembly. This approach generates disassembly sequence plans that are hierarchical to avoid interlocking problems and reduce computational complexity.

Original languageEnglish
Title of host publicationInformatics in Control, Automation and Robotics
Subtitle of host publication15th International Conference, ICINCO 2018, Porto, Portugal, July 29-31, 2018, Revised Selected Papers
EditorsOleg Gusikhin, Kurosh Madani
Number of pages21
ISBN (Electronic)9783030319939
ISBN (Print)9783030319922, 9783030319953
Publication statusPublished - 26 Oct 2019
Event15th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2018 - Porto, Portugal
Duration: 29 Jul 201831 Jul 2018

Publication series

NameLecture Notes in Electrical Engineering
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119


Conference15th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2018


  • Disassembly planning
  • Dismantling robotic disassembly
  • Divide-and-conquer strategy
  • Hierarchy analysis
  • Remanufacturing

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering


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