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A novel disassembly tool with screwnail endeffectors

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Abstract

One of the most intriguing aspects of disassembly is that of dealing with the products not designed for disassembly. This paper presents a novel disassembly tool, wherein a screwnail is used as an endeffector. It is shown that the screwnail indentation process can well overcome the geometrical uncertainties of the products to be dismantled. A self-connection resulted from the screwnail indentation provides a reliable closure to transmit forces and torques required for various dismantling operations. Some differences between the self-connection and the assembly connection are analyzed in detail. With the screwnail endeffector integrated, a disassembly task is decomposed into a screwnail indentation process, a task execution process, and a separating process. A vivid example is given to illustrate these concepts.

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Authors and Affiliations

  1. Institute for Machine Tools and Factory Management (IWF), Technical University Berlin, Pascalstr. 8-9, D-10587, Berlin, Germany

    Bing-Ran Zuo, Alexander Stenzel & Günther Seliger

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  1. Bing-Ran Zuo
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  2. Alexander Stenzel
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  3. Günther Seliger
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Zuo, BR., Stenzel, A. & Seliger, G. A novel disassembly tool with screwnail endeffectors. Journal of Intelligent Manufacturing 13, 157–163 (2002). https://doi.org/10.1023/A:1015778621008

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  • DOI: https://doi.org/10.1023/A:1015778621008