2.2.2. Disassembly Process Task Planning

WP2 considered as scrap (two plastic cylinders, Figure 7b) is picked by the WS6 elevator and positioned and transported by the Hera&Horstmann ML back to the FC. The ABB IRM disassembles components in the established order: Cylinder 1 (left), Cylinder 2 (right) and Top and Body, letting them slide on the corresponding trays. The Base is transported back to ML WS1, where the piston pushes it into the storage warehouse. ARS takes over by grabbing each released component in order and transporting it to the appropriate storage on the Hera&Horstmann ML. The complete process of disassembly WP2 with recovering components is presented in Figure 10.

**Figure 10.** Disassembly task planning.

2.2.3. Repair Process Task Planning

When the assembled workpiece WP2 does not pass the quality test, the process handles it by transporting back from the storage unit (WS6 Storage Rack) to the FC where it will be considered for reprocessing, repair or disassembling—depending on the cylinder types (Figure 7). For repairing process (Figure 11) task scheduling consists of the following tasks:


It is important to mention the following assumption: when on A/D/RML, there is a large volume for assembling, and at a certain moment due to the quality check stage, a bad workpiece may be detected; the repair or disassembly process has priority, so assembly is stopped until the bad workpiece is completely reprocessed. After that, assembly process is restarted for that volume of workpieces from the moment of stopping.

**Figure 11.** Repair task planning.
