Cognitive Digital Twin Modeling of Robotic Disassembly Process

With the increasing concern of recycling the end of life products, robotic disassembly is being paid much attention nowadays. Generally, there are many uncertainties in disassembly process, and these uncertainties should definitely be considered. Cognitive capability forming is useful to solve the uncertainties during the robotic disassembly process. In this paper, cognitive digital twin model of robot disassembly process is built, and its cognitive capability is validated. An ontology modeling-based method is proposed to achieve the cognitive capability of the digital twin. During the robotic disassembly process, the cognitive capability addresses uncertainties of different fasteners with similar product structure. In order to verify the proposed method, the case studies are conducted in robotic disassembly process of clutches, and results show that cognitive digital twin is able to resolve the uncertainties of product fasteners in the robot disassembly process and improved the success rate in disassembling the products with similar structure.