SmartDis - Semi-Automatic Disassembly of an Antenna Amplifier

Autor

Manuel Amersdorfer, Thomas Meurer

Beteiligte Person

Timon Hörbert, Munir Merdan, Stephan Seibel, Othman Shakir, Sabine Pannik, David Neubauer, Stefan Thalhammer, Markus Vincze

Beteiligtes Institut

Institut für Mechanische Verfahrenstechnik und Mechanik (MVM)

Genre

Beiträge rund ums KIT

Beschreibung

This video shows the experimental results of a semi-autonomous disassembly process for electronic devices. The three main parts of an antenna amplifier are separated from each other by removing multiple screws with an industrial robotic manipulator. Here, the screws are detected and localized by a vision system from RGB-D images. The digital twin combines model and sensor information from the work cell and the workpiece. It provides the basis for ontology-based decision-making and collision-free motion planning for the position-controlled robot. The experimental setup reuses legacy hardware, including the robot and screwdriver, controlled by the Robot Operating System (ROS). The results show that most of the screws can be removed automatically by the robot before a human operator unscrews the remaining ones and separates the casing parts and circuit boards.

Schlagwörter

Intelligent automation, Recycling, Industrial robots, Disassembly, Robot Operating System (ROS)

Laufzeit (hh:mm:ss)

00:03:39

Publiziert am

21.05.2024

Fachgebiet

Meß- und Regelungstechnik, Instrumentenkunde

Lizenz

Creative Commons Namensnennung – Weitergabe unter gleichen Bedingungen 4.0 International