Using active adjustment and compliance in robotic disassembly

R. Herold; Y. J. Wang; D. T. Pham; J. Huang; C. Ji; S. Su

Using active adjustment and compliance in robotic disassembly

R. Herold, Y. J. Wang, D. T. Pham, J. Huang, C. Ji, S. Su

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

With a greater demand for waste reduction, the need to remanufacture products has increased and the industry is beginning to move to disassembly automation in the same way that assembly had previously. This research investigates the use of active adjustments and compliance to improve the efficiency of the disassembly of products where one component is fixed into another component through a slot or channel. The aim is to cater for uncertainties in the relative positioning of the components, thus minimising damage and enabling fast separation. Several strategies were employed to identify the most effective method of separation. Experiments reveal that adjusting the position proportionally to the forces measured could provide good results. It was found that using an oscillating motion path rather than a linear motion as a part of an active adjustment and compliance strategy can greatly reduce resistance forces.

Original language	English
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
Publisher	CRC Press/Balkema
Pages	101-105
Number of pages	5
ISBN (Electronic)	9780367422721
Publication status	Published - 2019
Event	2nd International Conference on Sustainable Smart Manufacturing, S2M 2019 - Manchester, United Kingdom Duration: 9 Apr 2019 → 11 Apr 2019

Publication series

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

Conference

Conference	2nd International Conference on Sustainable Smart Manufacturing, S2M 2019
Country/Territory	United Kingdom
City	Manchester
Period	9/04/19 → 11/04/19

Bibliographical note

Funding Information:
This research was supported by the EPSRC (Grant No. EP/N018524/1).

Publisher Copyright:
© 2021 Taylor & Francis Group, London.

ASJC Scopus subject areas

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

Cite this

Herold, R., Wang, Y. J., Pham, D. T., Huang, J., Ji, C., & Su, S. (2019). Using active adjustment and compliance in robotic disassembly. In P. J. da Silva Bartolo, F. M. da Silva, S. Jaradat, & H. Bartolo (Eds.), Industry 4.0 - Shaping The Future of The Digital World - Proceedings of the 2nd International Conference on Sustainable Smart Manufacturing, S2M 2019 (pp. 101-105). (Industry 4.0 - Shaping The Future of The Digital World - Proceedings of the 2nd International Conference on Sustainable Smart Manufacturing, S2M 2019). CRC Press/Balkema.

Herold, R. ; Wang, Y. J. ; Pham, D. T. et al. / Using active adjustment and compliance in robotic disassembly. Industry 4.0 - Shaping The Future of The Digital World - Proceedings of the 2nd International Conference on Sustainable Smart Manufacturing, S2M 2019. editor / Paulo Jorge da Silva Bartolo ; Fernando Moreira da Silva ; Shaden Jaradat ; Helena Bartolo. CRC Press/Balkema, 2019. pp. 101-105 (Industry 4.0 - Shaping The Future of The Digital World - Proceedings of the 2nd International Conference on Sustainable Smart Manufacturing, S2M 2019).

@inproceedings{8b3a3de02e6b433eb37a4d187fb06112,

title = "Using active adjustment and compliance in robotic disassembly",

abstract = "With a greater demand for waste reduction, the need to remanufacture products has increased and the industry is beginning to move to disassembly automation in the same way that assembly had previously. This research investigates the use of active adjustments and compliance to improve the efficiency of the disassembly of products where one component is fixed into another component through a slot or channel. The aim is to cater for uncertainties in the relative positioning of the components, thus minimising damage and enabling fast separation. Several strategies were employed to identify the most effective method of separation. Experiments reveal that adjusting the position proportionally to the forces measured could provide good results. It was found that using an oscillating motion path rather than a linear motion as a part of an active adjustment and compliance strategy can greatly reduce resistance forces.",

author = "R. Herold and Wang, {Y. J.} and Pham, {D. T.} and J. Huang and C. Ji and S. Su",

note = "Funding Information: This research was supported by the EPSRC (Grant No. EP/N018524/1). Publisher Copyright: {\textcopyright} 2021 Taylor & Francis Group, London.; 2nd International Conference on Sustainable Smart Manufacturing, S2M 2019 ; Conference date: 09-04-2019 Through 11-04-2019",

year = "2019",

language = "English",

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

publisher = "CRC Press/Balkema",

pages = "101--105",

editor = "{da Silva Bartolo}, {Paulo Jorge} and {da Silva}, {Fernando Moreira} and Shaden Jaradat and Helena Bartolo",

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

}

Herold, R, Wang, YJ , Pham, DT, Huang, J, Ji, C & Su, S 2019, Using active adjustment and compliance in robotic disassembly. in PJ da Silva Bartolo, FM da Silva, S Jaradat & H Bartolo (eds), Industry 4.0 - Shaping The Future of The Digital World - Proceedings of the 2nd International Conference on Sustainable Smart Manufacturing, S2M 2019. Industry 4.0 - Shaping The Future of The Digital World - Proceedings of the 2nd International Conference on Sustainable Smart Manufacturing, S2M 2019, CRC Press/Balkema, pp. 101-105, 2nd International Conference on Sustainable Smart Manufacturing, S2M 2019, Manchester, United Kingdom, 9/04/19.

Using active adjustment and compliance in robotic disassembly. / Herold, R.; Wang, Y. J.; Pham, D. T. et al.
Industry 4.0 - Shaping The Future of The Digital World - Proceedings of the 2nd International Conference on Sustainable Smart Manufacturing, S2M 2019. ed. / Paulo Jorge da Silva Bartolo; Fernando Moreira da Silva; Shaden Jaradat; Helena Bartolo. CRC Press/Balkema, 2019. p. 101-105 (Industry 4.0 - Shaping The Future of The Digital World - Proceedings of the 2nd International Conference on Sustainable Smart Manufacturing, S2M 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Using active adjustment and compliance in robotic disassembly

AU - Herold, R.

AU - Wang, Y. J.

AU - Pham, D. T.

AU - Huang, J.

AU - Ji, C.

AU - Su, S.

PY - 2019

Y1 - 2019

N2 - With a greater demand for waste reduction, the need to remanufacture products has increased and the industry is beginning to move to disassembly automation in the same way that assembly had previously. This research investigates the use of active adjustments and compliance to improve the efficiency of the disassembly of products where one component is fixed into another component through a slot or channel. The aim is to cater for uncertainties in the relative positioning of the components, thus minimising damage and enabling fast separation. Several strategies were employed to identify the most effective method of separation. Experiments reveal that adjusting the position proportionally to the forces measured could provide good results. It was found that using an oscillating motion path rather than a linear motion as a part of an active adjustment and compliance strategy can greatly reduce resistance forces.

AB - With a greater demand for waste reduction, the need to remanufacture products has increased and the industry is beginning to move to disassembly automation in the same way that assembly had previously. This research investigates the use of active adjustments and compliance to improve the efficiency of the disassembly of products where one component is fixed into another component through a slot or channel. The aim is to cater for uncertainties in the relative positioning of the components, thus minimising damage and enabling fast separation. Several strategies were employed to identify the most effective method of separation. Experiments reveal that adjusting the position proportionally to the forces measured could provide good results. It was found that using an oscillating motion path rather than a linear motion as a part of an active adjustment and compliance strategy can greatly reduce resistance forces.

UR - http://www.scopus.com/inward/record.url?scp=85117591046&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:85117591046

T3 - Industry 4.0 - Shaping The Future of The Digital World - Proceedings of the 2nd International Conference on Sustainable Smart Manufacturing, S2M 2019

SP - 101

EP - 105

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

A2 - da Silva Bartolo, Paulo Jorge

A2 - da Silva, Fernando Moreira

A2 - Jaradat, Shaden

A2 - Bartolo, Helena

PB - CRC Press/Balkema

T2 - 2nd International Conference on Sustainable Smart Manufacturing, S2M 2019

Y2 - 9 April 2019 through 11 April 2019

ER -

Herold R, Wang YJ , Pham DT, Huang J, Ji C, Su S. Using active adjustment and compliance in robotic disassembly. In da Silva Bartolo PJ, da Silva FM, Jaradat S, Bartolo H, editors, Industry 4.0 - Shaping The Future of The Digital World - Proceedings of the 2nd International Conference on Sustainable Smart Manufacturing, S2M 2019. CRC Press/Balkema. 2019. p. 101-105. (Industry 4.0 - Shaping The Future of The Digital World - Proceedings of the 2nd International Conference on Sustainable Smart Manufacturing, S2M 2019).

Using active adjustment and compliance in robotic disassembly

Abstract

Publication series

Conference

Bibliographical note

ASJC Scopus subject areas

Fingerprint

Cite this