Ioan Doroftei, Daniel Chirita, Ciprian Stamate, Stelian Cazan, Carlos Pascal and Adrian Burlacu
The mass electronics sector is one of the most critical sources of waste, in terms of volume and content with dangerous effects on the environment. The purpose of this study is to…
Abstract
Purpose
The mass electronics sector is one of the most critical sources of waste, in terms of volume and content with dangerous effects on the environment. The purpose of this study is to provide an automated and accurate dismantling system that can improve the outcome of recycling.
Design/methodology/approach
Following a short introduction, the paper details the implementation layout and highlights the advantages of using a custom architecture for the automated dismantling of printed circuit board waste.
Findings
Currently, the amount of electronic waste is impressive while manual dismantling is a very common and non-efficient approach. Designing an automatic procedure that can be replicated, is one of the tasks for efficient electronic waste recovery. This paper proposes an automated dismantling system for the advanced recovery of particular waste materials from computer and telecommunications equipment. The automated dismantling architecture is built using a robotic system, a custom device and an eye-to-hand configuration for a stereo vision system.
Originality/value
The proposed approach is innovative because of its custom device design. The custom device is built using a programmable screwdriver combined with an innovative rotary dismantling tool. The dismantling torque can be tuned empirically.
Details
Keywords
Bassem Hichri, Lounis Adouane, Jean-Christophe Fauroux, Youcef Mezouar and Ioan Doroftei
The purpose of this paper is to address optimal positioning of a group of mobile robots for a successful manipulation and transportation of payloads of any shape.
Abstract
Purpose
The purpose of this paper is to address optimal positioning of a group of mobile robots for a successful manipulation and transportation of payloads of any shape.
Design/methodology/approach
The chosen methodology to achieve optimal positioning of the robots around the payload to lift it and to transport it while maintaining a geometric multi-robot formation is presented. This appropriate configuration of the set of robots is obtained by combining constraints ensuring stable and safe lifting and transport of the payload. A suitable control law is then used to track a virtual structure in which each elementary robot has to keep its desired position with respect to the payload.
Findings
An optimal positioning of mobile robots around a payload to ensure stable co-manipulation and transportation task according to stability multi-criteria constraints. Simulation and experimental results validate the proposed control architecture and strategy for a successful transportation task based on virtual structure navigation approach.
Originality/value
This paper presents a new strategy for co-manipulation and co-transportation task based on a virtual structure navigation approach. An algorithm for optimal positioning of mobile robots around a payload of any mass and shape is proposed while ensuring stability during the whole process by respecting multi-criteria task stability constraints.
Details
Keywords
Ioan Doroftei and Yvan Baudoin
At present, more than 100 million undetonated landmines left over from wars remain buried worldwide. These mines kill or injure approximately 3,000 individuals each year (80…
Abstract
Purpose
At present, more than 100 million undetonated landmines left over from wars remain buried worldwide. These mines kill or injure approximately 3,000 individuals each year (80 persons per day), most of them civilians. They represent a particularly acute problem in developing countries and nations already economically hard hit by war. The problem of unexploded mines has become a serious international issue, with many people striving to find a solution. The purpose of this paper is to examine the requirements of the robotic systems for humanitarian demining purposes. It will discuss a hexapod walking robot developed at the Royal Military Academy of Brussels in collaboration with the Free University of Brussels, Belgium, in the framework of the Humanitarian Demining Project (HUDEM).
Design/methodology/approach
Considerations for the design of the walking robot according to the humanitarian demining requirements are discussed in detail.
Findings
A successful walking robot design for demining purposes must consider functional requirements relevant to this difficult application. The principal requirements are mentioned in this paper.
Originality/value
This paper is the result of the research of the HUDEM project team and it is of value to engineers and researchers developing robotic systems for humanitarian demining purposes.