Optimisation of Product Recovery Options in End-of-Life Product Disassembly by Robots
Abstract
:1. Introduction
2. Relevant Work
3. Methods
3.1. Sustainability Model for RDLBSD
3.2. Case Study
3.3. Multiobjective Bees Algorithm
4. Results
5. Discussion
6. Conclusions
Author Contributions
Funding
Data Availability Statement
Acknowledgments
Conflicts of Interest
Abbreviations
BA | Bees Algorithm |
CAD | Computer-Aided Design |
EoL | End-of-Life |
HI | Hypervolume Indicator |
MFSG | Modified Feasible Solution Generation |
MO | Multi-objective |
MOBA | Multi-Objective Bees Algorithm |
MCDM | Multiple-criteria Decision-making |
NP | Non-Deterministic Polynomial |
OPT | Optimal |
POSs | Pareto Optimal Solutions |
REC | Recycling |
REM | Remanufacturing |
REU | Reuse |
RDLBSD | Sequence-Dependent Robotic Disassembly Line Balancing |
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References | Metaheuristic | Sustainability Related Objective(s) | MO-ND | Sequence-Dependent |
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Variable | Description |
---|---|
an indicator that takes the value of 1 if component i is to be disassembled and 0 otherwise | |
disposal cost of component i | |
cost per unit of time | |
depreciation cost assigned to component i to be disassembled | |
indicator taking the value 1 if operation requires changing the tool used in previous operation | |
i | index for each component and varies from 0 to N |
j | indicator for part recovery. It is 1 if the component is reused, 2 if remanufactured, 3 if recycled, and 4 if it is disposed of |
overhead cost assigned to component i to be disassembled | |
length between the position of the tool magazine (M) and the point of the disassembly operation | |
distance between the point of the disassembly operation and the position of the tool magazine (M) | |
distance between the point of the disassembly operation and the point of disassembly operation | |
revenue obtained from component i being recycled | |
recovery cost of component i being reused or remanufactured | |
indicator of the recovery mode: 1 if mode j is assigned to component i | |
the revenue obtained due to the component i being reused or remanufactured not having been manufactured again for a new product | |
basic time to perform disassembly operation | |
tool change time and depends on the tool type | |
penalty time for process direction changes along the path between and the tool magazine (M), given 0 if the direction is not changed, if the direction is changed by 90°, if the direction is changed by 180° | |
penalty time for process direction changes along the path between the tool magazine (M) and , which is formulated as | |
penalty time for process direction changes along the path between and , which is formulated as | |
line velocity of the industrial robot’s end effector |
Variable | Description |
---|---|
conversion factor from to monetary units | |
energy consumption involved in recovering component i with mode j | |
energy consumption of the robot in the disassembly operation of component i | |
energy consumption of the robot in the movement between the position and M | |
energy consumption of the robot in the tool change | |
energy consumption of the robot in the movement between M and | |
energy consumption of the robot in the movement between and | |
energy reclaimed from component i being reused or remanufactured | |
power of the robot used in the disassembly operation | |
power of the robot used in the movements between the disassembly points |
Variable | Description |
---|---|
environmental impact in the recovering process of component i with mode j | |
environmental impact in disassembly operation | |
environmental impact produced by the movement of the robot between disassembly operations and , considering that the robot must change the tool in M if operation requires using a tool different from the one used in the previous operation | |
reclaimed environmental impact from component i being reused or remanufactured |
Variable | Description |
---|---|
cycle time | |
number of workstations | |
station time |
Part Number | Part Name | Weight (g) | Material |
---|---|---|---|
1 | Bolt A | 7.90 | Steel |
2 | Bolt B | 7.90 | Steel |
3 | Bolt C | 7.90 | Steel |
4 | Bolt D | 7.90 | Steel |
5 | Bolt E | 7.90 | Steel |
6 | Bolt F | 7.90 | Steel |
7 | Cover | 538.14 | Steel |
8 | Gasket | 4.23 | Rubber |
9 | Gear A | 119.44 | Steel |
10 | Gear B | 119.44 | Steel |
11 | Driven Shaft A | 40.88 | Steel |
12 | Base | 1534.98 | Steel |
13 | Driven Shaft B | 143.40 | Steel |
14 | Packing Gland | 21.27 | Steel |
15 | Gland Nut | 94.57 | Steel |
Part Number | Part Name | Weight (g) | Material |
---|---|---|---|
1 | Bolt A | 9.76 | Steel |
2 | Bolt B | 9.76 | Steel |
3 | Bolt C | 9.76 | Steel |
4 | Bolt D | 9.76 | Steel |
5 | Bolt E | 9.76 | Steel |
6 | Bolt F | 9.76 | Steel |
7 | Cover | 753.39 | Steel |
8 | Gasket | 5.22 | Rubber |
9 | Gear A | 167.22 | Steel |
10 | Gear B | 167.22 | Steel |
11 | Shaft A | 50.48 | Steel |
12 | Base | 2148.98 | Steel |
13 | Shaft B | 177.10 | Steel |
14 | Gland A | 7.14 | PTFE |
15 | Gland B | 7.14 | PTFE |
16 | Gland C | 7.14 | PTFE |
17 | Gland D | 7.14 | PTFE |
18 | Gland E | 113.48 | Steel |
19 | Bolt stud A | 7.83 | Steel |
20 | Bolt stud B | 7.83 | Steel |
21 | Nut A | 2.27 | Steel |
22 | Nut B | 2.27 | Steel |
23 | Nut C | 2.27 | Steel |
24 | Nut D | 2.27 | Steel |
Component No | REC Scenario | REM Scenario | REU Scenario | OPT Scenario |
---|---|---|---|---|
1 | Recycle | Recycle | Recycle | Recycle/Remanufacture/Reuse * |
2 | Recycle | Recycle | Recycle | Recycle/Remanufacture/Reuse * |
3 | Recycle | Recycle | Recycle | Recycle/Remanufacture/Reuse * |
4 | Recycle | Recycle | Recycle | Recycle/Remanufacture/Reuse * |
5 | Recycle | Recycle | Recycle | Recycle/Remanufacture/Reuse * |
6 | Recycle | Recycle | Recycle | Recycle/Remanufacture/Reuse * |
7 | Recycle | Remanufacture | Reuse | Recycle/Remanufacture/Reuse * |
8 | Disposal | Disposal | Disposal | Disposal |
9 | Recycle | Remanufacture | Reuse | Recycle/Remanufacture/Reuse * |
10 | Recycle | Remanufacture | Reuse | Recycle/Remanufacture/Reuse * |
11 | Recycle | Remanufacture | Reuse | Recycle/Remanufacture/Reuse * |
12 | Recycle | Remanufacture | Reuse | Recycle/Remanufacture/Reuse * |
13 | Recycle | Remanufacture | Reuse | Recycle/Remanufacture/Reuse * |
14 | Recycle | Remanufacture | Reuse | Recycle/Remanufacture/Reuse * |
15 | Recycle | Remanufacture | Reuse | Recycle/Remanufacture/Reuse * |
Component No | REC Scenario | REM Scenario | REU Scenario | OPT Scenario |
---|---|---|---|---|
1 | Recycle | Recycle | Recycle | Recycle/Remanufacture/Reuse * |
2 | Recycle | Recycle | Recycle | Recycle/Remanufacture/Reuse * |
3 | Recycle | Recycle | Recycle | Recycle/Remanufacture/Reuse * |
4 | Recycle | Recycle | Recycle | Recycle/Remanufacture/Reuse * |
5 | Recycle | Recycle | Recycle | Recycle/Remanufacture/Reuse * |
6 | Recycle | Recycle | Recycle | Recycle/Remanufacture/Reuse * |
7 | Recycle | Remanufacture | Reuse | Recycle/Remanufacture/Reuse * |
8 | Disposal | Disposal | Disposal | Disposal |
9 | Recycle | Remanufacture | Reuse | Recycle/Remanufacture/Reuse * |
10 | Recycle | Remanufacture | Reuse | Recycle/Remanufacture/Reuse * |
11 | Recycle | Remanufacture | Reuse | Recycle/Remanufacture/Reuse * |
12 | Recycle | Remanufacture | Reuse | Recycle/Remanufacture/Reuse * |
13 | Recycle | Remanufacture | Reuse | Recycle/Remanufacture/Reuse * |
14 | Disposal | Disposal | Disposal | Disposal |
15 | Disposal | Disposal | Disposal | Disposal |
16 | Disposal | Disposal | Disposal | Disposal |
17 | Disposal | Disposal | Disposal | Disposal |
18 | Recycle | Remanufacture | Reuse | Recycle/Remanufacture/Reuse * |
19 | Recycle | Remanufacture | Reuse | Recycle/Remanufacture/Reuse * |
20 | Recycle | Remanufacture | Reuse | Recycle/Remanufacture/Reuse * |
21 | Recycle | Recycle | Recycle | Recycle/Remanufacture/Reuse * |
22 | Recycle | Recycle | Recycle | Recycle/Remanufacture/Reuse * |
23 | Recycle | Recycle | Recycle | Recycle/Remanufacture/Reuse * |
24 | Recycle | Recycle | Recycle | Recycle/Remanufacture/Reuse * |
Output | REC Scenario | REM scenario |
Disassembly sequence | 15-6-2-1-3-4-5-7-11-9-13-8-10-14-12 | 15-3-1-2-5-4-6-7-9-11-10-14-13-8-12 |
Disassembly direction | 1-2-2-2-2-2-2-2-2-2-2-2-2-1-1 | 1-2-2-2-2-2-2-2-2-2-2-1-2-2-2 |
Component recovery | 3-3-3-3-3-3-3-3-3-3-3-4-3-3-3 | 2-3-3-3-3-3-3-2-2-2-2-2-2-4-2 |
Disassembly tools | 2-1-1-1-1-1-1-4-3-3-3-3-3-3-4 | 2-1-1-1-1-1-1-4-3-3-3-3-3-3-4 |
Robotic workstation | 1-1-1-1-1-1-2-2-2-2-2-2-3-3-3 | 1-1-1-1-1-2-2-2-2-2-2-3-3-3-3 |
O1 (Euros) | −13.52 | 36.15 |
O2 | 31,140.35 | 22,514.56 |
Output | REU scenario | OPT scenario |
Disassembly sequence | 3-4-5-2-1-6-15-7-10-11-9-14-13-8-12 | 3-2-5-6-1-4-15-7-10-9-11-14-13-8-12 |
Disassembly direction | 2-2-2-2-2-2-1-2-2-2-2-1-2-2-1 | 2-2-2-2-2-2-1-2-2-2-2-1-2-2-2 |
Component recovery | 3-3-3-3-3-3-1-1-1-1-1-1-1-4-1 | 1-1-1-1-1-1-1-1-1-1-1-1-1-4-1 |
Disassembly tools | 1-1-1-1-1-1-2-4-3-3-3-3-3-3-4 | 1-1-1-1-1-1-2-4-3-3-3-3-3-3-4 |
Robotic workstations | 1-1-1-1-1-1-2-2-2-2-2-3-3-3-3 | 1-1-1-1-1-1-2-2-2-2-2-3-3-3-3 |
O1 (Euros) | 64.82 | 66.40 |
O2 | 30,795.94 | 31,530.36 |
Output | REC Scenario |
Disassembly sequence | 2-3-5-4-1-24-23-22-21-19-20-6-18-7-13-11-17-16-9-10-8-12-14-15 |
Disassembly direction | 2-2-2-2-2-1-1-1-1-1-1-2-1-2-1-2-1-1-2-2-2-2-2-2 |
Component recovery | 3-3-3-3-3-3-3-3-3-3-3-3-3-3-3-3-4-4-3-3-4-3-4-4 |
Disassembly tools | 1-1-1-1-1-3-3-3-3-2-2-1-4-5-4-4-4-4-4-4-4-5-4-4 |
Robotic workstation | 1-1-1-1-1-1-1-1-1-2-2-2-2-3-3-3-3-3-3-3-3-3-3-3 |
O1 (Euros) | −22.6 |
O2 | 1310.7 |
Output | REM scenario |
Disassembly sequence | 4-5-6-3-2-1-24-23-21-22-20-7-8-19-9-18-11-13-10-17-12-14-15-16 |
Disassembly direction | 2-2-2-2-2-2-1-1-1-1-1-2-2-1-2-1-2-1-2-1-2-2-2-2 |
Component recovery | 3-3-3-3-3-3-3-3-3-3-2-2-4-2-2-2-2-2-2-4-2-4-4-4 |
Disassembly tools | 1-1-1-1-1-1-3-3-3-3-2-5-4-2-4-4-4-4-4-4-5-4-4-4 |
Robotic workstation | 1-1-1-1-1-1-1-1-1-1-2-2-2-2-3-3-3-3-3-3-3-3-3-3 |
O1 (Euros) | 63.94 |
O2 | 3946 |
Output | REU scenario |
Disassembly sequence | 3-5-4-1-2-6-7-8-10-9-11-23-24-22-21-19-20-18-17-13-12-16-15-14 |
Disassembly direction | 2-2-2-2-2-2-2-2-2-2-2-1-1-1-1-1-1-1-1-1-2-1-1-2 |
Component recovery | 3-3-3-3-3-3-1-4-1-1-1-3-3-3-3-1-1-1-4-1-1-4-4-4 |
Disassembly tools | 1-1-1-1-1-1-5-4-4-4-4-3-3-3-3-2-2-4-4-4-5-4-4-4 |
Robotic workstations | 1-1-1-1-1-1-1-2-2-2-2-2-2-2-2-3-3-3-3-3-3-3-3-3 |
O1 (Euros) | 78.88 |
O2 | 4712.87 |
Output | OPT scenario |
Disassembly sequence | 4-1-3-2-5-6-7-24-9-10-11-8-22-23-21-20-19-18-13-12-14-17-16-15 |
Disassembly direction | 2-2-2-2-2-2-2-1-2-2-2-2-1-1-1-1-1-1-1-2-2-1-1-2 |
Component recovery | 1-1-1-1-1-1-1-1-1-1-1-4-1-1-1-1-1-1-1-1-4-4-4-4 |
Disassembly tools | 1-1-1-1-1-1-5-3-4-4-4-4-3-3-3-2-2-4-4-5-4-4-4-4 |
Robotic workstations | 1-1-1-1-1-1-1-2-2-2-2-2-2-2-2-3-3-3-3-3-3-3-3-3 |
O1 (Euros) | 82 |
O2 | 4155 |
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© 2023 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
Share and Cite
Hartono, N.; Ramírez, F.J.; Pham, D.T. Optimisation of Product Recovery Options in End-of-Life Product Disassembly by Robots. Automation 2023, 4, 359-377. https://doi.org/10.3390/automation4040021
Hartono N, Ramírez FJ, Pham DT. Optimisation of Product Recovery Options in End-of-Life Product Disassembly by Robots. Automation. 2023; 4(4):359-377. https://doi.org/10.3390/automation4040021
Chicago/Turabian StyleHartono, Natalia, F. Javier Ramírez, and Duc Truong Pham. 2023. "Optimisation of Product Recovery Options in End-of-Life Product Disassembly by Robots" Automation 4, no. 4: 359-377. https://doi.org/10.3390/automation4040021