Optimization-Based Disassembly Sequence Planning Under Uncertainty for Human–Robot Collaboration
Optimization-Based Disassembly Sequence Planning Under Uncertainty for Human–Robot Collaboration
复制标题
不确定性下基于优化的人机协作拆卸顺序规划
DOI：
10.1115/1.4055901
复制
发表时间：
2023
影响因子：
3.3
通讯作者：
Behdad, Sara
中科院分区：
文献类型：
--
作者：
Liao, Hao-yu;Chen, Yuhao;Hu, Boyi;Behdad, Sara
回收是再制造报废（EOL）产品的重要步骤。优化拆卸顺序和利用机器人技术可以减轻拆卸作业的劳动密集性质。提出了一种考虑人机协作的不确定拆卸序列规划优化框架。该框架结合了拆卸成本、安全性和拆卸复杂性这三个属性，来确定最优拆卸路径并在人与机器人之间分配操作。多属性效用函数用于解决不确定性，并在多个属性之间进行权衡。拆卸时间反映了拆卸成本，假设拆卸成本是一个服从Beta分布的不确定性参数;可拆卸性反映了机器人进行拆卸操作的可行性;安全性指标反映了对工作环境中工人的保护。最后以一台台式机的拆解为例说明了该方法的应用。该模型在人与机器人之间分配拆卸作业时，识别出拆卸成本低、可拆卸性高、安全性高的最优拆卸序列。灵敏度分析表明，该模型的性能时，改变拆卸成本的机器人。
Disassembly is an essential step for remanufacturing end-of-life (EOL) products. Optimization of disassembly sequences and the utilization of robotic technology could alleviate the labor-intensive nature of dismantling operations. This study proposes an optimization framework for disassembly sequence planning under uncertainty considering human–robot collaboration. The proposed framework combines three attributes: disassembly cost, safety, and complexity of disassembly, namely disassembleability, to identify the optimal disassembly path and allocate operations between human and robot. A multi-attribute utility function is used to address uncertainty and make a tradeoff among multiple attributes. The disassembly time reflects the cost of disassembly which is assumed to be an uncertain parameter with a Beta distribution; the disassembleability evaluates the feasibility of conducting operations by robot; finally, the safety index ensures the protection of human workers in the work environment. An example of dismantling a desktop computer is used to show the application. The model identifies the optimal disassembly sequence with less disassembly cost, high disassembleability, and increased safety index while allocating disassembly operations among human and robot. A sensitivity analysis is conducted to show the model's performance when changing the disassembly cost for the robot.