为不规则产品设计全程共享的模块化夹具，避免拆解中反复调整。
Planning a Shared Modular Fixture Layout Across Robotic Disassembly Stages
- 用扩散模型生成物理合理的初始夹具布局，再通过贝叶斯优化迭代优化。
- 实测显示螺丝刀和剃须刀的稳定性裕度分别达66.9%和81.6%。
- 适合需连续拆解且对夹具切换敏感的工业场景，如电子设备回收。
不规则形状产品的机器人拆解中，稳定支撑始终是难题。随着组件逐步移除，可用支撑面、质量分布和任务载荷不断变化，单阶段设计的夹具布局在后续阶段可能失效。为此，本文提出一种模块化真空夹持系统，为整个拆解序列规划一个统一的夹具配置，实现无需重新配置即可完成全部步骤。针对混合连续-离散布局空间的搜索问题，采用去噪扩散概率模型生成物理启发的初始布局，并通过贝叶斯优化进行精细化调整。机器人拆解实验验证了所规划布局的可行性，11项方向性载荷测试量化了其稳定性。对比实测操作载荷与方向响应，螺丝刀和剃须刀的平均实测稳定性裕度分别为66.9%和81.6%。结果表明，针对特定产品的共享夹具布局可在测试的拆解序列中提供稳定支撑。
原文摘要 · Abstract (English)
Stable support remains challenging in robotic disassembly of irregularly shaped products. As components are progressively removed, the available support surfaces, mass distribution, and task loads change throughout the process. A fixture layout designed for one workpiece state may therefore become infeasible at later stages, motivating unified support planning over the complete disassembly sequence. This paper presents a modular vacuum-based fixturing system that plans one shared support configuration for the complete disassembly sequence of a screwdriver or shaver, allowing each sequence to proceed without fixture reconfiguration. To search the mixed continuous--discrete layout space under repeated cross-stage evaluation, a denoising diffusion probabilistic model generates physics-informed initial configurations that are refined through Bayesian optimization. Robotic screw and component-removal experiments verified the disassembly feasibility of the planned layouts, while 11 directional-load tests quantified their stability. Comparisons between the measured operational loads and directional responses yielded mean empirical stability margins of 66.9% for the screwdriver and 81.6% for the shaver. These results demonstrate that a product-specific shared layout can provide stable support throughout the tested robotic disassembly sequence.
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