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 proceedingConference 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 languageEnglish
Title of host publicationIndustry 4.0 - Shaping The Future of The Digital World - Proceedings of the 2nd International Conference on Sustainable Smart Manufacturing, S2M 2019
EditorsPaulo Jorge da Silva Bartolo, Fernando Moreira da Silva, Shaden Jaradat, Helena Bartolo
PublisherCRC Press/Balkema
Pages101-105
Number of pages5
ISBN (Electronic)9780367422721
Publication statusPublished - 2019
Event2nd International Conference on Sustainable Smart Manufacturing, S2M 2019 - Manchester, United Kingdom
Duration: 9 Apr 201911 Apr 2019

Publication series

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

Conference

Conference2nd International Conference on Sustainable Smart Manufacturing, S2M 2019
Country/TerritoryUnited Kingdom
CityManchester
Period9/04/1911/04/19

ASJC Scopus subject areas

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

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