Supervisory control of an automated disassembly workcell based on blocking topology

An important aspect in recycling and reuse for environmentally conscious manufacturing is disassembly. Although disassembly systems contain the same basic elements as assembly system, the disassembly problem differs significantly from the assembly problem due to the fact that the incoming disassembly product is not controlled. In addition, complete dismantling of products is not necessarily required for disassembly whereas assembly builds a product completely. This paper describes a model for automated disassembly that accounts for work cell interaction and used product constraints. The model provides an essential means to determine, in realtime, the next component for disassembly using the knowledge of the product design and sensor feedback to minimize the steps to removing goal components. Sets of components for removal were resolved by minimizing set-up time for disassembling the component. Simulation results based on real product, vision sensor measure, and process input are presented and discussed. It is expected that the concepts demonstrated through this product can provide useful insights to other mechanical assembly.