ACTA

Uncertainty Assessment of the Screw Removal System for Robotic Disassembly of Hard Disk Drives During the Recycling Process

R. Szewczyk^a, J. Szałatkiewicz^b, M. Nowicki^a, P. Gazda^a, A. Ostaszewska-Liżewska^a, P. Nowak^a, T. Charubin^a, W. Rogalski^b, M. Wiktorowicz^b, I. Patapenka^b, A. Siemiątkowski^c, J. Zieliński^c
^aInstitute of Metrology and Biomedical Engineering, Faculty of Mechatronics, Warsaw University of Technology, św. A. Boboli 8, 02-525 Warsaw, Poland
^bPhoenix-Surowce Ltd., Kasztanowa 18, 05-816 Michałowice-Wieś, Poland
^cIndustrial Research Institute for Automation and Measurements PIAP - Łukasiewicz Research Network, Al. Jerozolimskie 202, 02-486 Warsaw, Poland

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Robotic disassembly of hard disk drives during their recycling process is a promising technology with significant ecological importance and high economic profitability. However, the efficiency of the robotic disassembly of screws in the cost-efficient process using the robotic system in the selective compliance assembly robot arm configuration is highly dependent on the accuracy of positioning. In such a case, the robot works based on known screw positions without a visual control loop. The paper presents the generalised method of analysis of key factors influencing the process, starting from visual geometry analysis to mechanical setup accuracy. The formalised metrological analysis was performed on the base of the Monte-Carlo method to identify the key factors influencing the screw positioning accuracy. It was stated that the robot control uncertainty plays a crucial role in the total uncertainty of the system.

DOI:10.12693/APhysPolA.146.591
topics: Monte Carlo analysis, uncertainty propagation, uncertainty modelling