Problem
Research questions and friction points this paper is trying to address.
industrial control electronics
automated disassembly
repair
A Modular Dual-Arm Robotic Cell for Disassembly and Repair of Industrial Control Electronics
🤖 AI Summary
该研究针对工业控制电子设备的自动化拆解与维修问题，提出了一种模块化双臂机器人系统，结合多种传感器、工具及ROS 2控制系统实现自动化的拆解和维修。
📝 Abstract
Industrial control electronics such as programmable logic controllers, servo drives and operator panels are routinely repaired in plant maintenance, but were never designed for automated disassembly. This paper presents a modular dual-arm robotic cell for repair-oriented disassembly, using two collaborative manipulators, interchangeable tools, red-green-blue-depth (RGB-D) and wristlevel perception, force/torque sensing and a Robot Operating System (ROS) 2- based control with Behavior Tree (BT) execution, teleoperation, digital-twin support and bounded learning-based contact skills. The process is decomposed into sequence planning, symbolic execution with fallbacks, force-limited tool skills, visual condition assessment and demonstration-based adaptation. A CADderived device graph encodes the disassembly order, access constraints, tools, feasible removal directions and verification states and converts them into operation objects for the BT and motion layers. Grounded in three representative devices, the cell covers screw removal, damaged-fastener fallback, snap-fit opening, connector release, cooperative printed circuit board (PCB) extraction and condition-based repair decisions. The main contribution is an architecture linking sequence knowledge, perception, verification and force-aware skills through one ROS 2 interface across simulation, teleoperation and real hardware.
Innovation
Methods, ideas, or system contributions that make the work stand out.
modular dual-arm robotic cell
repair-oriented disassembly
force-aware skills
behavior tree execution
digital-twin support
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