Research On Robotic Disassembly Line Balancing Considering Sequence-dependent And Disassembly Path

With the rapid economic development and increasing consumer demand,a large number of end-of-life(EOL)products are continuously produced,which has caused serious resource waste and environmental pollution problems.Disassembly is a key step in the product life cycle,which can realize the recycling of EOL products,improve resource utilization and reduce the environmental hazards of end-of-life products.Compared with a single disassembly workstation or disassembly unit,the disassembly line has higher disassembly efficiency,so it is widely used in practical industries.The traditional disassembly line system is usually composed of multiple manual workstations,which can only disassembly simple end-of-life products,and in order to simplify the problem,usually do not consider the influencing factors such as the sequence-dependent characteristics of the product and the disassembly path.As a result,the degree of automation of the disassembly line is low,and the problems of insufficient disassembly accuracy and derailment of the disassembly planning scheme and actual application have become important factors restricting the efficiency of disassembly.In view of the above problems,this paper studies a multi-objective robotic disassembly line balancing problem.While considering the sequence-dependent time increments generated by the disassembly task interaction,the impact of the disassembly path on the disassembly line balance in the industrial robot disassembly mode is considered.The research work is as follows:(1)Research on model and algorithm of robotic disassembly line balance considering sequence-dependent.Aiming at the sequence-dependent characteristics of the product,the sequence-dependent disassembly line balancing problem in the disassembly mode of industrial robots is proposed.First,the space dependent matrix method was used to represent the structure and basic information of the product and a feasible disassembly sequence was obtained.Combined with the disassembly line balance related theory,a multi-objective disassembly line optimization model was constructed by minimizing the number of workstations,minimizing the idle time of the workstation,and minimizing the component demand index.When solving the problem,based on the multi-objective evolutionary algorithm,design corresponding coding and decoding methods and crossover and mutation operators,and verify the effectiveness of the proposed model and algorithm through simulation experiments,and compare it with other optimization algorithms to verify the effectiveness of the used algorithm.(2)Research on sequence-dependent disassembly line balancing problem considering robot disassembly path.While solving sequence-dependent disassembly line balancing problem,plan the disassembly path of the disassembly robot.Considering the special characteristics of the robot during the automated disassembly process,the minimization path length is used as one of the objectives to establish an optimization model of the multi-objective disassembly line.During the research,the gear pump was taken as the disassembly object,and the corresponding coding and decoding methods,crossover and mutation operators were designed,and an improved second-generation fast non-dominated sorting algorithm based on the neighborhood search strategy was proposed to solve the Pareto optimal solution set,and compare it with other optimization algorithms to verify the effectiveness and superiority of the proposed algorithm.(3)Design and implement a robotic disassembly line balancing prototype system that considers sequence-dependent and disassembly path.Based on the sequencedependent disassembly line balancing optimization model and related solving algorithms constructed in this paper,in order to solve the disassembly line problem in actual projects,a robotic disassembly line balancing prototype system that includes functional modules such as data entry and management,disassembly solution analysis and display were designed and implemented to verify the effectiveness of the proposed models and algorithms.