Multi-Sensorial System for the Generation of Disassembly Trajectories

The disassembly of products for they reuse is an important field of research. One aspect that appears when a product is been disassembled is the uncertainty in the trajectories for the removal of a component from the rest of the product. In order to reduce this lack of information, a multi-sensorial system is proposed. This system uses visual and force-sensor information to avoid the unknown factors in the disassembly plan and correct the trajectories generated which are based on the model of the product. This paper also describes the structure of a de-manufacturing system that can perform the desired disassembly task.

1. INTRODUCTION

Disassembly is of great interest in current research as its aim is to achieve the optimal recovery and recycling of the components of a product. There are great benefits for both industry and the environment in recovering components from a product when its life-cycle has ended. When the components are recovered it reduces the number of new components that must be manufactured, thus reducing costs in the manufacturing process and in the amount of waste generated [6] [1]. When a disassembly task is to be performed, an important issue to be taken into consideration is the difference between the expected aspects of the component and the real ones. The component to be disassembled may change during its life-cycle, due to the way it has been used, and the environment in which it has been applied. Some sensorial system is therefore needed to achieve the correct model of the product that is being disassembled. It may also be a vision-system [3] that allows the obtaining of information about the real product.