A high-speed robotic disassembly system for the recycling and reuse of cellphones
Name
1057122460-MIT.pdf
Description
Full printable version
Size
9.41 MB
Format
Adobe PDF
Checksum (MD5)
6847b41da7287f936bfb5a84522a29cf
Author(s)
Figueiredo, Wilhelmena
Advisor(s)
Kamal Youcef-Toumi.
Date Issued
2018
Publisher
Massachusetts Institute of Technology
Abstract
Hundreds of millions of cellphones are thrown away every year, creating a market for large-scale recycle and reuse. We present a low-cost robot that can disassemble cellphone components in a nondestructive way and be distributed widely. The goal of this robot is to accelerate the recovery of millions of dollars worth of components and materials from the disposed cellphones. The disassembly of cellphones was reduced to primitive operations and the most important was determined to be prying. The prototype was tested on disconnecting flat flexible cable connectors which were universal and traditionally difficult for machines to remove. Multiple end effectors were designed, and different combinations of end effectors and motions were compared showing the optimum combination for prying is determined to be a compliant tool with a moving pivot motion. It allowed high success rate, minimal damage and good robustness against positioning errors. The prying and positioning of the machine was modeled and compared to experimental data to guide design and allow for generalization. Lastly, a decision-making system was designed specifically to work at high speeds and with multiple types of uncertainty.
Description
Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2018.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 79-81).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
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