A Robust Robotic Disassembly Sequence Design Using Orthogonal Arrays and Task Allocation

摘要

Disassembly sequence planning (DSP) is a nondeterministic polynomial time (NP) complete problem, making the utilization of metaheuristic approaches a viable alternative. DSP aims at creating efficient algorithms for deriving the optimum or near-optimum disassembly sequence for a given product or a product family. The problem-specific nature of such algorithms, however, requires these solutions to be validated, proving their versatility in accommodating substantial variations in the problem environment. To achieve this goal, this paper utilizes Taguchi’s orthogonal arrays to test the robustness of a previously-proposed Simulated Annealing (SA) algorithm. A comparison with an exhaustive search is also conducted to verify the efficiency of the algorithm in generating an optimum or near-optimum disassembly sequence for a given product. In order to further improve the solution, a distributed task allocation technique is also introduced into the model environment to accommodate multiple robot arms.