Modelling of robotic disassembly sequence planning

Yuanjun Laili, Yongjing Wang, Yilin Fang, Duc Truong Pham

Research output: Chapter in Book/Report/Conference proceedingChapter


This chapter discusses the prerequisites of robotic disassembly sequence planning as opposed to manual disassembly planning. Optimisation variables, objectives and constraints are summarised and modelled mathematically. Multiple disassembly operations with direction change and tool change, additional adjustment strategies, backup strategies, and human assistance are reflected in the models to deal with uncertainties in disassembly processes. The expected disassembly time and success rate of disassembly plans with uncertainties are formulated. The formulation reflects the possibility of failure in which disassembly may be terminated before all components are removed.
Original languageEnglish
Title of host publicationOptimisation of Robotic Disassembly for Remanufacturing
PublisherSpringer, Cham
Number of pages11
ISBN (Electronic)9783030817992
ISBN (Print)9783030817985, 9783030818012
Publication statusPublished - Aug 2021

Publication series

NameSpringer Series in Advanced Manufacturing
PublisherSpringer, Cham
ISSN (Print)1860-5168
ISSN (Electronic)2196-1735


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