Robotic Disassembly Sequence Planning With Backup Actions
Robotic Disassembly Sequence Planning With Backup Actions
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DOI：
10.1109/tase.2021.3072663
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发表时间：
2022-07
影响因子：
5.6
通讯作者：
Y. Laili;Xiang Li;Yongjing Wang;Lei Ren;Xiaokang Wang
中科院分区：
文献类型：
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作者：
Y. Laili;Xiang Li;Yongjing Wang;Lei Ren;Xiaokang Wang
再制造的一个关键步骤是拆卸“核心”或返回的产品进行再制造。由于堆芯条件的不确定性，堆芯顺序规划具有挑战性。生锈、腐蚀、变形和零件丢失可能需要经常更改和调整拆卸计划。传统的工业自动化通常服务于重复性和结构化的活动，当它被应用于拆卸时可能会失败。本研究探讨了灵活的机器人拆卸顺序在自动化操作失败的存在下，并通过将备份操作开发在线恢复。它首先对备份操作的时间和成功率进行建模。根据拆卸操作及其备份操作的失效概率，推导出拆卸计划的期望拆卸时间和完成率。采用双选择多目标进化算法建立了机器人拆卸序列规划的双目标优化模型。两个解决方案的选择标准相结合，以产生潜在的后代候选人在每个进化的一代。实验结果表明，备份操作允许有效的恢复自动化，并可能提高机器人拆卸的鲁棒性。本研究的动机是自动拆卸技术的发展。工业自动化技术通常使用预定的操作动作。使用这种方法的机器人拆卸可能由于产品状况的不确定性而失败（例如，定位和几何形状）。本文介绍了拆卸序列规划中的备份动作，并描述了备份动作的实现逻辑和推理过程。我们所提出的方法理论上可以提高机器人自动拆卸的完成率。实验研究表明，备份行动是有效的，在提供一个可靠的拆卸序列，因此，可以提高机器人拆卸的鲁棒性。在未来的研究中，我们将实施典型的备份行动，并建立一个自动拆卸过程中的重新规划模块。
A key step in remanufacturing is disassembly of the “core” or the returned product to be remanufactured. Disassembly sequence planning is challenging due to uncertainties in the conditions of the cores. Rust, corrosion, deformation, and missing parts may require disassembly plans to be changed and adapted frequently. Conventional industrial automation that usually serves in repetitive and structured activities may fail when it is applied to disassembly. This research investigates the flexible sequencing of robotic disassembly in the presence of failed automation operations and develops online recovery by incorporating backup actions. It starts with modeling the time and success rate of a backup action. The expected disassembly time and completion rate of a disassembly plan are deduced according to the failure probability of both the operations and their backup actions. A biobjective optimization model for robotic disassembly sequence planning is established using a dual-selection multiobjective evolutionary algorithm. Two solution selection criteria are combined to produce potential offspring candidates in each evolutionary generation. Experimental results show that the backup actions allow efficient recovery from automation and can potentially improve the robustness of robotic disassembly. Note to Practitioners—This research was motivated by the development of automated disassembly techniques. Industrial automation techniques usually use predetermined operation motions. Robotic disassembly using such an approach may fail due to uncertainties in the condition of the products (e.g., positioning and geometry). This article introduces backup actions for disassembly sequence planning and describes the logic and reasoning of their implementation. Our proposed method can theoretically increase the completion rate of automated robotic disassembly. Experimental studies suggested that backup actions are efficient in providing a reliable disassembly sequence and, thus, can improve the robustness of robotic disassembly. In future research, we will implement typical backup actions and establish an automated disassembly process with a replanning module.