发表机构
The University of Osaka; The National Institute of Advanced Industrial Science and Technology (AIST)（大阪大学; 日本国立先进工业科学技术研究所（AIST））
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究针对机器人拆卸中支撑布局需适配阶段变化的问题，提出基于去噪扩散概率模型与贝叶斯优化的模块化真空夹具系统，实现螺丝刀、剃须刀拆卸的共享布局，稳定裕度达66.9%和81.6%，验证了方案的可行性与稳定性。
AI 中文摘要
异形产品的机器人拆卸中，稳定支撑仍是一项挑战。随着部件逐步被移除，整个过程中可用支撑面、质量分布和任务负载会发生变化。因此，为某一工件状态设计的夹具布局在后续阶段可能变得不可行，这促使人们在完整拆卸序列上规划统一支撑。本文提出一种基于真空的模块化夹具系统，其为螺丝刀或剃须刀的完整拆卸序列规划一个共享支撑配置，使每个序列无需重新配置夹具即可进行。为在跨阶段重复评估下搜索混合连续-离散布局空间，去噪扩散概率模型生成物理信息感知的初始配置，这些配置通过贝叶斯优化进行优化。机器人螺丝和部件移除实验验证了规划布局的拆卸可行性，11项定向负载测试量化了其稳定性。实测操作负载与定向响应的比较得出，螺丝刀的平均经验稳定裕度为66.9%，剃须刀为81.6%。这些结果表明，针对特定产品的共享布局可在测试的机器人拆卸序列中提供稳定支撑。
英文摘要
Stable support remains challenging in robotic disassembly of irregularly shaped products. As components are progressively removed, the available support surfaces, mass distribution, and task loads change throughout the process. A fixture layout designed for one workpiece state may therefore become infeasible at later stages, motivating unified support planning over the complete disassembly sequence. This paper presents a modular vacuum-based fixturing system that plans one shared support configuration for the complete disassembly sequence of a screwdriver or shaver, allowing each sequence to proceed without fixture reconfiguration. To search the mixed continuous--discrete layout space under repeated cross-stage evaluation, a denoising diffusion probabilistic model generates physics-informed initial configurations that are refined through Bayesian optimization. Robotic screw and component-removal experiments verified the disassembly feasibility of the planned layouts, while 11 directional-load tests quantified their stability. Comparisons between the measured operational loads and directional responses yielded mean empirical stability margins of 66.9% for the screwdriver and 81.6% for the shaver. These results demonstrate that a product-specific shared layout can provide stable support throughout the tested robotic disassembly sequence.
Comments15 pages, 9 figures. Submitted to IEEE Transactions on Automation Science and Engineering (T-ASE)
