An ontology and rule-based method for human–robot collaborative disassembly planning in smart remanufacturing


Disassembly is a decisive step in the remanufacturing process of End-of-Life (EoL) products. As an emerging semi-automatic disassembly paradigm, human–robot collaborative disassembly (HRCD) offers multiple disassembly methods to enhance flexibility and efficiency. However, HRCD increases the complexity of planning and determining the optimal disassembly sequence and scheme. Currently, the optimisation process of heuristic methods is difficult to interpret, and the results cannot be guaranteed as globally optimal. Consequently, this paper introduces a general ontology model for HRCD, along with a rule-based reasoning method, to automatically generate the optimal disassembly sequence and scheme. Firstly, the HRCD ontology model establishes the disassembly-related information for EoL products in a standardised approach. Then, customised disassembly-related rules are proposed to regulate the precedence constraints and optional disassembly methods for each disassembly task of EoL products. The optimal disassembly sequence and scheme are automatically generated by combining supportive rules with the ontology model. Lastly, the human–robot collaborative disassembly planning of a gearbox is presented as a case study to validate the feasibility of the proposed methods. Our method generates an optimal disassembly scheme compared with other heuristic algorithms, achieving the shortest process time of 308 units and the fewest number of disassembly direction change of 3 times. Additionally, the reasoning procedure can be easily tracked and modified. The proposed method is both universal and easily reproducible, allowing it to be extended to support the entire remanufacturing process.

Publication DOI:
Divisions: College of Engineering & Physical Sciences > Smart and Sustainable Manufacturing
College of Engineering & Physical Sciences > School of Engineering and Technology > Mechanical, Biomedical & Design
Funding Information: This research work was funded by RECLAIM project ‘Remanufacturing and Refurbishment of Large Industrial Equipment’ and received funding from the European Commission Horizon 2020 research and innovation programme under Grant Agreement No. 869884 . This res
Additional Information: Copyright © 2024 The Author(s). Published by Elsevier Ltd. This is an open access article under the CC BY license (
Uncontrolled Keywords: Disassembly planning,Human–Robot Collaborative Disassembly (HRCD),Ontology,Remanufacturing,Semantic Web Rule Language (SWRL) rule,Software,Mathematics(all),Control and Systems Engineering,Industrial and Manufacturing Engineering,Computer Science Applications
Publication ISSN: 0736-5845
Last Modified: 14 Jun 2024 07:36
Date Deposited: 04 Apr 2024 11:08
Full Text Link:
Related URLs: https://www.sci ... 736584524000528 (Publisher URL)
http://www.scop ... tnerID=8YFLogxK (Scopus URL)
PURE Output Type: Article
Published Date: 2024-10
Published Online Date: 2024-03-20
Accepted Date: 2024-03-16
Authors: Hu, Youxi
Liu, Chao (ORCID Profile 0000-0001-7261-3832)
Zhang, Ming (ORCID Profile 0000-0001-5202-5574)
Lu, Yuqian
Jia, Yu (ORCID Profile 0000-0001-9640-1666)
Xu, Yuchun (ORCID Profile 0000-0001-6388-813X)



Version: Published Version

License: Creative Commons Attribution

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