Robotic Disassembly Sequence Planning Considering Variable Product Forms

Modern manufacturing industries are paying more attention to the recycling of product materials and environmental impact,and remanufacturing is gaining attention for its economic,environmental and social benefits as well as its contribution to the sustainability of natural resources.Disassembly is the first and most difficult step in remanufacturing.Traditional disassembly is usually done manually,which is not efficient and can potentially harm and threaten the health of workers due to the uncertainty of the product status.Robotic automated disassembly overcomes the shortcomings of traditional disassembly design,and researchers have proposed a robotdriven real-time disassembly cell that can generate optimal disassembly sequences for End-of-Life(Eo L)products,making robotic automated disassembly the most practical and promising method available.However,most current robotic disassembly sequence planning problems do not take into account the fact that product contours change as parts are removed,thus affecting the robot’s travel time.Also,since Eo L products are used products,there is a great deal of uncertainty in their product state,which directly leads to uncertainty in disassembly profits,which cannot be ignored.In this paper,the product profile as well as the product state are grouped into product forms for description.In response to the above problems,this paper takes robotic disassembly sequence planning as the research object,considers the problem of variable product form,and investigates the model and algorithm of robotic disassembly sequence planning,the main research work is as follows.(1)Research on the robotic disassembly sequence planning model considering variable product form.In view of the variation of product contour and state uncertainty in product disassembly,an improved spatial interference matrix is used to represent the constraint relationships between each part of the Eo L product to be disassembled,and a robot movement time interference matrix is added to represent the robot movement time between each disassembly point under different disassembly stages to build a robotic disassembly sequence planning uncertainty problem model with minimum disassembly tool switching time,minimum disassembly direction switching time,minimum robot movement time and maximum disassembly profit as the objectives.For this uncertainty problem model,the uncertainty is quantified by the problem cosolution method,and the deterministic problem model of robotic disassembly sequence planning based on the sub-problem solution is constructed.In verifying the correctness of the model,LINGO is used for validation.(2)Research on the planning algorithm of robotic disassembly sequence based on genetic programming.Aiming at the proposed deterministic problem model of robotic disassembly sequence planning based on sub-problem solving.In the research process of this paper,the gear pump is regarded as the object to be disassembled,and the corresponding tree-based encoding and decoding methods,tree-based crossover and mutation operators are designed,and a robotic disassembly sequence planning algorithm based on Knee-oriented genetic programming is proposed.The nondominated solution set of the proposed mathematical problem model is solved,and the proposed algorithm is compared with other algorithms,and the effectiveness of the proposed algorithm is analyzed through the experimental results.(3)Design of a prototype system for robotic disassembly sequence planning considering variable product forms.In order to solve the application of the robotic disassembly sequence planning problem considering variable product forms in practical projects,a robotic disassembly sequence planning system with multiple algorithms is constructed based on the robotic disassembly sequence planning model considering variable product forms and related solution algorithms constructed in this paper,and the effectiveness and practicality of the proposed model and algorithms are verified.