Modeling for component relations in robotic disassembly

Robotic disassembly is a critical technology to achieve automatic disassembly in remanufacturing. However, industrial robots cannot recognize component relations of specific products with various unpredictable states. Therefore, a model for component relations is of great necessity for disassembly optimization problems like Disassembly Sequence Planning (DSP) and Disassembly Line Balancing Problems (DLBP). This paper first introduces the most commonly used models of component relations in three categories. The characteristics of different models are analyzed and compared from the aspects of transformational relations and applications. Finally, suggestions are given as a reference for choosing a suitable component relation model.