A system for automated disassembly of snap-fit covers

Schumacher, P.; Jouaneh, Musa

doi:10.1007/s00170-013-5174-8

Cited by 19 publications

(8 citation statements)

References 12 publications

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“…Various approaches have been proposed for increased automation in recycling. Some works present specialized robots for certain tasks like automated disassembly of snap-fit covers [4] or unscrewing [5]. In [6], the unscrewing during disassembly for the recycling of electric vehicle batteries is performed by a robot in a workspace shared with a worker.…”

Section: Related Workmentioning

confidence: 99%

The KIT Gripper: A Multi-Functional Gripper for Disassembly Tasks

Klas

Hundhausen

Gao

et al. 2021

2021 IEEE International Conference on Robotics and Automation (ICRA)

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We introduce a multi-functional robotic gripper equipped with a set of actions required for disassembly of electromechanical devices. The gripper consists of a robot arm with 5 degrees of freedom (DoF) for manipulation and a jaw gripper with a 1-DoF rotation joint and a 1-DoF closing joint. The system enables manipulation in 7 DoF and offers the ability to reposition objects in hand and to perform tasks that usually require bimanual systems. The sensor system of the gripper includes relative and absolute joint encoders, force and pressure sensors to provide feedback about interaction forces, a toolmounted camera for screw detection and precise placement of the tool tip using image-based visual servoing. We present a data-driven method for estimating joint torques based on the output voltage and motor speed. Further, we provide methods for teaching disassembly actions based on human demonstration, their representation as movement primitives and execution based on sensory feedback. We provide quantitative results regarding positioning and torque estimation accuracy, disassembly success rate and qualitative results regarding the successful disassembly of hard disc drives.

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Section: Related Workmentioning

confidence: 99%

The KIT Gripper: A Multi-Functional Gripper for Disassembly Tasks

Klas

Hundhausen

Gao

et al. 2021

2021 IEEE International Conference on Robotics and Automation (ICRA)

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“…Specific tooling concepts were sometimes combined with sensorial features such as the concepts depicted by Hohm et al. , Schumacher et al , and Mironov et al show. In‐hand manipulation and high versatility are features of the KIT Swiss Knife Gripper presented by Borras et al.…”

Section: Content Analysis and Classificationmentioning

confidence: 99%

“…Specific tooling concepts were sometimes combined with sensorial features such as the concepts depicted by Hohm et al [166], Schumacher et al [167], and Mironov et al [168] show. In-hand manipulation and high versatility are features of the KIT Swiss Knife Gripper presented by Borras et al [169] and a flexible gripper by Schmitt et al [170], whereas Feldmann et al [171] and Nave et al [172] state that (semi-)destructive disassembly is mostly a better way to efficiently install processes rather than complex and time-consuming operations with specialized tools.…”

Section: Analysis Of Contentsmentioning

confidence: 99%

Disassembly 4.0: A Review on Using Robotics in Disassembly Tasks as a Way of Automation

Poschmann

Brüggemann

Goldmann

2020

Chemie Ingenieur Technik

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To successfully implement circular economy processes into present value chains, economic feasibility of disassembly processes is essential. Current developments in science and technology, such as artificial intelligence and Internet of Things, foster steep progression in the field of robotics. In this review, the current research on robotics in disassembly is investigated by a systematic literature review. The results were clustered in a framework system distinguishing between applied and basic research on the two main streams of disassembly automation research, namely, predefined processes and adaptable, flexible automation.

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“…To lower the human interaction during the disassembly process and the related costs, prior research focused on semi or full automation of standard disassembly operations for, among others, washing machines [14], personal computers [15], LCD monitors [16], mobile phones [17,18], and remote controls [19]. However, to date, only a limited number of cases have been documented in which automated disassembly has been implemented in a robust and industrially viable fashion, such as the remanufacturing of single-use cameras [20].…”

Section: Introductionmentioning

confidence: 99%

“…However, to date, only a limited number of cases have been documented in which automated disassembly has been implemented in a robust and industrially viable fashion, such as the remanufacturing of single-use cameras [20]. Further industrial adoption of such automated disassembly cells is limited due to the high diversity of applied fasteners, as well as the broad variety of products and the variation in the condition of returning products [16,19,21]. Due to this diversity, advanced product recognition and intelligent, versatile handling techniques need to be called upon, resulting in nonrobust and costly procedures.…”

Section: Introductionmentioning

confidence: 99%

Pressure-sensitive fasteners for active disassembly

Peeters

Bossche

Devoldere

et al. 2015

Int J Adv Manuf Technol

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This paper presents a number of novel active fasteners developed to significantly lower disassembly costs during reconditioning, remanufacturing, and recycling of products. In the initial stage of the fastener development process, the applicability of distinct trigger signals for active disassembly (AD) is evaluated. Based on this evaluation, the high robustness of using a pressure increase or decrease as a nondestructive trigger for AD is demonstrated. Since previously proposed pressure-sensitive fasteners face considerable drawbacks upon implementation in electronic products due to the ongoing trend of miniaturization, a second generation of pressure-based active fasteners is developed. Evaluation of these fasteners by means of axiomatic design techniques and prototyping demonstrates that the presented snap-fits, which make use of a closed-cell elastomer foam, are most robust. Subsequently, the contraction forces that closed-celled foams can exert as a function of an increase in ambient air pressure are experimentally determined. Furthermore, the implementation of pressure-sensitive foam-based snap-fits in both a modem and a payment terminal is described. Results of these experiments demonstrate that the contraction force of a cross-linked metallocene polyethylene closed-cell foams can reach up to 6 N/cm 2 at an overpressure of 2 bar and that the foam-based snap-fits can be released at a pressure increase of 2 bar.

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A system for automated disassembly of snap-fit covers

Cited by 19 publications

References 12 publications

The KIT Gripper: A Multi-Functional Gripper for Disassembly Tasks

The KIT Gripper: A Multi-Functional Gripper for Disassembly Tasks

Disassembly 4.0: A Review on Using Robotics in Disassembly Tasks as a Way of Automation

Pressure-sensitive fasteners for active disassembly

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