Parallel disassembly sequence planning using improved ant colony algorithm


Disassembly is one of the most crucial links in the product life cycle. Disassembly sequence planning (DSP) is a combination of optimization problem and has been studied by many researchers. Asynchronous parallel disassembly planning (APDP) eliminates the requirement that manipulators must start and stop their tasks in the working process. In this paper, a new asynchronous parallel disassembly sequence planning method is proposed, which to deal with the problems of highly time-dependent on asynchronous parallel disassembly mode. The disassembly time model has been divided into execution time and preparation time. The former represents the time consumes by removing a part, and the latter means the time consumes on the disassembly tool preparation while the disassembly position switch. The disassembly matrix and the disassembly work area collision matrix are also utilized to avoid infeasible sequences. Based on the max-min ant system, a waiting strategy is proposed to solve asynchronous parallel disassembly sequence planning problem. To further shorten disassembly process, a time overlap strategy is developed to take advantage of waiting time. Finally, a bevel gear reducer is utilized as an example to discuss and analysis the value of key parameters, as well as the effectiveness of the algorithm and strategies proposed in the paper.

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Data availability

All data generated or analyzed during this study are included in this published article.


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This research is supported by the Key Laboratory of Fundamental Science for National Defence of Aeronautical Digital Manufacturing Process of Shenyang Aerospace University (SHSYS201805).

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All the authors designed research, performed research, analyzed data, and wrote the paper.

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Correspondence to Yufei Xing.

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Fig. 9

The disassembly matrix of the transmission in Fig. 4

Fig. 10

The contact matrix of the transmission in Fig. 4

Fig. 11

The work area collision matrix of the transmission in Fig. 4

Table 5 The execution time of parts
Table 6 The bounding box center of parts
Table 7 The tool preparation time of parts

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Xing, Y., Wu, D. & Qu, L. Parallel disassembly sequence planning using improved ant colony algorithm. Int J Adv Manuf Technol (2021).

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  • Combinatorial optimization
  • Disassembly sequence planning (DSP)
  • Parallel disassembly
  • Disassembly time-dependent
  • Ant colony algorithm