Autonomous Non-Destructive Assembly/Disassembly of Electronic Components using A Robotic Arm

E-waste recycling is becoming one of the fast de-veloping fields of research. This is due to the presence of valuable raw materials within E-waste that are often dumped in landfill sites. Recent researches have sought to bridge the gap between current robot capabilities and their potential application in disassembly processes. As such, this paper demonstrates an implementation of five non-destructive disassembly tasks: button press, peg-in-hole insertion and removal, key-in-hole insertion, and battery removal and storage. This implementation is done on an ABB IRB120 robot platform using a combination of vision sensor, force sensors, multi-tool heads and control algorithms.