Human-Robot Collaboration Re-Manufacturing for Uncertain Disassembly in Retired Battery Recycling

Abstract

The production and sales of new energy vehicles has brought the recycling needs of retired Electric Vehicle (EV) battery for sustainable and green resource utilization. The purpose of this paper is to provide solutions for uncertain disassembly of EV battery in flexible production workshops. In this paper, a novel human-robot collaborative flexible re-manufacturing system is proposed to deal with the difficulties for the uncertain disassembly and re-manufacturing process of EV-battery recycling. The uncertainty in the disassembly process are analyzed to build the architecture of human-robot collaboration disassembly system. The D-H parameter method was used to analyze the kinematics of collaboration robot and its control system. The trajectory planning of collaboration robot is performed using the Rapidly-exploring Random Tree (RRT) algorithm. The neural network YOLOv7 algorithm is used to support the depth vision-based system to improve the recognition accuracy and motion accuracy for disassembly process.