arXiv:2605.21026cs.RO2026-05

通过分析零件影响度,智能推荐减少螺丝数量,提升机器人拆解效率。

Component Influence-Driven Fastener Reduction for Robotic Disassemblability-Aware Design Simplification

论文配图:Component Influence-Driven Fastener Reduction for Robotic Disassemblability-Aware Design Simplification
图 1 · 摘自论文原文
  • 基于CAD模型生成约束图,量化零件对拆解阻碍的影响程度。
  • 实验显示可减少8至132个结构约束,拆解路径缩短165至1675毫米。
  • 适合从事绿色设计与自动化拆解的工程师使用。

为加速自动化再制造,需在产品设计阶段考虑机器人拆解需求。当前设计师缺乏量化反馈以识别阻碍机器人操作的结构要素。为此,本研究提出一种分析框架,聚焦于螺栓减量——这类部件普遍存在于各类产品中。基于计算机辅助设计(CAD)模型及其自动生成的接触-连接-约束(CCC)图,该框架将机器人拆解序列规划结果转化为组件影响得分,反映某组件在拆解过程中引发结构约束违规或目标恶化的情况频率。通过三维热力图在CAD几何体上可视化这些得分,直观标出结构障碍。系统还模拟移除高影响螺栓的效果,评估预期减少的结构约束、工具更换次数和机器人移动距离,同时通过几何稳定性指标防止不安全修改。七款家用电器的实验表明,该框架能有效识别冗余螺栓;移除推荐螺栓后,结构依赖关系减少8至132个约束,且在结构允许范围内消除不必要的工具切换,机器人行程缩短165至1675毫米。

原文摘要 · Abstract (English)

To accelerate automated remanufacturing, robotic disassembly must be considered during the product design phase. However, designers currently lack quantitative feedback to identify which structural elements hinder robotic operations. To address this, this study proposes an analytical framework that provides actionable redesign guidance focused on fastener reduction, as fasteners are numerous and ubiquitous components found in almost all manufactured products. Using a Computer-Aided Design (CAD) model and its automatically generated Contact-Connection-Constraint (CCC) graph, the framework translates robotic disassembly sequence planning outcomes into component influence scores. These scores reflect how often a component causes structural constraint violations or evaluation objective deteriorations in the robotic disassembly sequence. To visually highlight structural hindrances, the framework projects these scores onto the CAD geometry as 3D heatmaps. The system then analytically simulates the removal of highly influential fasteners. It reports the expected reductions in structural constraints, tool changes, and robot travel distances, while preventing structurally unsafe modifications by evaluating geometric stability metrics. Experiments on seven household appliances demonstrate that the framework successfully targets redundant fasteners. Removing the recommended fasteners simplified the structural dependencies by eliminating between 8 and 132 structural constraints on the graph depending on each product's structural configuration. Furthermore, it improved robotic operational efficiency by eliminating unnecessary tool change operations and shortening travel distances by 165 to 1675 millimeters wherever structurally permissible.

机器人拆解设计优化螺栓减少绿色制造

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