Intuitive teaching approach for robotic disassembly

Previous research has demonstrated the economic and environmental benefits of demanufacturing over complete product shredding prior to material separation importance for rework, reuse, repair, remanufacture recycling in transition towards a more circular economy. Additionally, some products do not allow use destructive processes during end-of-life treatment e.g., battery containing products. Therefore, automated disassembly is considered essential increase viability end-of-(first)-life reduce working hazards demanufacturing. However, requires dedicated multi-functional tooling, programming complex operations disassemble sort various fasteners, connectors, components. Programming these robotic motions typically significant time specific knowledge skills. To avoid need highly trained personnel teach all different models, variants, conditions, an intuitive interface with low cost 6 degrees freedom (DoF) SpaceMouse® sensor guide DoF Stäubli robot developed, together required communication principles. In addition, experiment set up evaluate developed teaching approach terms both gained achieved position accuracy. The study shows that proposed method leads 57% faster locations limited decrease 0.15mm accuracy taught fastener locations, compared traditional pendant-based approach.