A Robust Robotic Disassembly Sequence Design Using Orthogonal Arrays and Task Allocation

Robotics

Ahmed ElSayed¹  Tarek Sobh¹  Mohammad Alshibli¹  SurendraM. Gupta²  Elif Kongar³ 

[1] Department of Computer Science and Engineering, School of Engineering, University of Bridgeport, 221 University Avenue, Bridgeport, CT 06604, USA;Department of Mechanical and Industrial Engineering, College of Engineering, Northeastern University, 360 Huntington Avenue, Boston, MA 02115, USA;Department of Technology Management, School of Engineering, University of Bridgeport, 221 University Avenue, Bridgeport, CT 06604, USA;

关键词: disassembly sequence planning;    electronic product recovery;    industrial robots;    recycling;    robotic manipulation;    simulated annealing;    task allocation;   

DOI  :  10.3390/robotics8010020

来源: DOAJ

【 摘 要 】

Disassembly sequence planning (DSP) is a nondeterministic polynomial time (NP) complete problem, making the utilization of metaheuristic approaches a viable alternative. DSP aims at creating efficient algorithms for deriving the optimum or near-optimum disassembly sequence for a given product or a product family. The problem-specific nature of such algorithms, however, requires these solutions to be validated, proving their versatility in accommodating substantial variations in the problem environment. To achieve this goal, this paper utilizes Taguchi’s orthogonal arrays to test the robustness of a previously-proposed Simulated Annealing (SA) algorithm. A comparison with an exhaustive search is also conducted to verify the efficiency of the algorithm in generating an optimum or near-optimum disassembly sequence for a given product. In order to further improve the solution, a distributed task allocation technique is also introduced into the model environment to accommodate multiple robot arms.

【 授权许可】

Unknown