Human-robot interactive disassembly planning in Industry 5.0^*

摘要

Industry 5.0 sets off a new wave of the industrial revolution by highlighting human-centric intelligent manufacturing. Human-cyber-physical system (HCPS) is the cornerstone of Industry 5.0. It seamlessly integrates humans, cyberspaces, and physical assets to optimize the entire product lifecycle while ensuring the well-being of all stakeholders along the product value chain. Understanding the role of humans is of great importance. Disassembly plays a crucial role in achieving the sustainability required in Industry 5.0. The mass personalization of products requires the flexibility to accommodate frequent changes in disassembly. Human-robot interaction within the same workplace transcends boundary limitations and empowers flexibility for disassembly processes. This paper proposes a HCPS framework for human-robot interactive disassembly with two significant paradigms, namely human-in-the-loop (HitL) and human-on-the-loop (HotL). According to the HotL paradigm, a multi-objective optimization model for human-robot interactive disassembly is constructed considering the disassembly task complexity and operator ergonomics. An improved multi-objective hybrid grey wolf optimization approach is proposed to obtain the Pareto front that reveals the optimal human-robot interactive disassembly sequence. A HitL experiment for disassembling an automated vehicle control box is presented to illustrate the feasibility of the proposed method.