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Flexible handling in disassembly with screwnail indentation

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3 Author(s)
Bing-Ran Zuo ; Inst. for Machine Tools & Factory Manage., Tech. Univ. Berlin, Germany ; Stenzel, A. ; Seliger, Guenther

This paper presents a cost-effective solution - screwnail indentation for disassembly. It is shown that the screwnail indentation can overcome the geometry uncertainties of used products. A disassembly tool, using the screwnail as the end effector, is introduced. The disassembly task is decomposed into screwnail indentation process, task execution process, and separating process. Based on a kinematically admissible velocity field, an upper-bound analysis is performed for the screwnail indentation process and validated with an experimental set-up. The results can be applied to flexible disassembly

Published in:

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:4 )

Date of Conference:

2000

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