A motion planning based on selective disassembly sequence planning method

Selective disassembly sequence planning is one of the most important stages in product repairing and recycling. Due to the lack of generalization of existing methods, a motion planning based selective disassembly sequence planning method is proposed. Aiming at the feature of huge amount and irregular shapes of complex product parts, a motion planning method based on dynamic self-adapted multiple trees based rapidly-exploring random tree (RRT) algorithm is introduced to plan the disassembly path of the parts initially. Based on that, a hierarchical structure of the assembly is generated which leads to the generation of the disassembly constraint relationship graph of all the assembly parts. By analysis of the generated graph, the disassembly sequence of selected part can be obtained. Results from test on a part from a complex chassis assembly validate this approach.