Virtual Robot Technology And Simulation For Disassembling End-of-Life Vehicles

It is very important to properly deal with the End-of-Life Vehicles for protecting environment, saving resource and sustainable development of economy. However, the disassemble task of End-of-Life Vehicles in our country is still in its initial stage. There are many problems, such as the lag of disassembly tool, the primitiveness of disassembly method, the environmental pollution and the low recovery rate. It is necessary to use some assistant tools or apparatus to accelerate the processing speeds, promote quality, alleviate burden of worker, improve recovery and utilization ratio. In view of this, after studying the current situation of End-of-Life Vehicles disassembling in the word, robots are planted to be used in car's disposal process, and finally a method is put forward to study the End-of-Life Vehicles disassembling technology and simulate the robot movement under the virtual environment.The virtual robot technology and simulation for disassembling end-of-life vehicles is study in four aspects. Firstly, according to the modernized treatment procedure of the end-of-life vehicles, a method is put forward by combining the destructive disassembly and alternative disassembly. The robot tool technology and dynamic identification is employed in the end-of-life vehicles disassembly. After the analysis of disassembly cell, the important meaning of the robot unit in the end-of-life vehicles'disassembly has been pointed out. Secondly, a virtual robot has been design in engineering software based on the FANUC Mi6B robot. The kinematics of this virtual robot model is accorded with the real FANUC Mi6B robot partly. Thirdly, a disassembly sequence plan is improved by removing the equipments around the goal and considering the destructive disassembly and the robot constraints. After analyzing virtual environment constraints for disassembly, several local coordinate systems are fixed on each objects and value parts, 4×4 matrixes are used to display their postures and movement transforms. As to the tool, the orientation procedure has been studied and orientation methods have been got, then part orientation principle is used to detrude robot tool movement transform matrix. Finally, a virtual robot Action operation panel is developed, and the robot motion simulation is verified by removing a car door. The simulation can help decision-maker find some interference and test the local disassembly direction and disassembly path.