Mechanism driven robotic compliant disassembly strategy for disassembling peg-holes under different maintenance conditions
提出一种机制驱动型机器人柔顺拆卸策略，利用软演员-评论家算法减少拆卸力/力矩，并通过案例验证其在不同维护条件下的泛化能力。
To remanufacture end-of-life products, robotic disassembly improves time efficiency and enhances operational safety compared to manual disassembly. Peg-hole disassembly is a quite common process in disassembling products. To protect the robot from excessive disassembly force caused by unsuitable controlling parameters, robot compliant disassembly strategy should be considered. Meanwhile, due to different maintenance conditions of peg-holes during the service time of products, it always leads to different conditions of peg-holes, which have an influence on the compliant strategy. In this paper, a mechanism driven robotic compliant disassembly strategy for disassembling peg-holes under different maintenance conditions is proposed. First, the framework is proposed, and a mechanism model is built to provide a theoretical basis to realise peg-hole robotic compliant disassembly. Then, the soft actor-critic algorithm is utilised to reduce the disassembly force/moment during the disassembly process. Finally, case studies are conducted to verify the proposed method. The converged model could reduce the disassembly force/moment during peg-hole disassembly. Its generalisation capability is further verified by disassembling peg-holes under different maintenance conditions. The comparative analysis shows that the proposed soft actor-critic algorithm outperforms other algorithms in reducing disassembly force/moment. The performance of the proposed method also has good consistency with the established mechanism model.