Optimization of Grasping Efficiency of a Robot Used for Sorting Construction and Demolition Waste
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ization of Grasping Efficiency of a Robot Used for Sorting Construction and Demolition Waste Yue-Dong Ku Jian-Hong Yang Huai-Ying Fang Wen Xiao Jiang-Teng Zhuang College of Mechanical Engineering and Automation, Huaqiao University, Xiamen 361000, China
Abstract: The recycling of construction and demolition waste (CDW) remains an urgent problem to be solved. In the industry, raw CDW needs to be manually sorted. To achieve high efficiency and avoid the risks of manual sorting, a sorting robot can be designed to grasp and sort CDW on a conveyor belt. But dynamic grasping on the conveyor belt is a challenge. We collected location information with a three-dimensional camera and then evaluated the method of dynamic robotic grasping. This paper discusses the grasping strategy of rough processed CDW on the conveyor belt, and implements the function of grasping and sorting on the recycling line. Furthermore, two new mathematical models for a robotic locating system are established, the accuracy of the model is tested with Matlab, and the selected model is applied to actual working conditions to verify the sorting accuracy. Finally, the robot kinematics parameters are optimized to improve the sorting efficiency through experiments in a real system, and it was concluded that when the conveyor speed was kept at around 0.25 m·s-1, better sorting results could be achieved. Increasing the speed and shortening the acceleration/deceleration time would reach the maximum efficiency when the load would allow it. Currently, the sorting efficiency reached approximately 2 000 pieces per hour, showing a high accuracy. Keywords: Construction and demolition waste, sorting robot, grasping strategy, mathematical models, robot kinematics parameters.
1 Introduction 1.1 Recycling of CDW Construction and demolition waste (CDW) usually results from the construction and demolition of buildings, roads, bridges, and other infrastructure. Currently, the European construction industry produces 820 million tons of CDW each year, accounting for 46% of the total waste generated, according to Eurostat[1, 2]. Equivalently, in China, because of the implementation of policy, a large number of housing developments, and heavy infrastructure construction, a large amount of CDW is generated, accounting for 30%–40% of the total waste[3], the amount of CDW is the highest in the world, but the utilization rate is less than 5%. To achieve sustainability, the government has begun to encourage enterprises to recycle CDW. The traditional method of recycling CDW essentially requires manual sorting of, for example, blocks, bricks, concrete, wood chips, and other residue, such as scrap tires[4] or unrecovered objects. However, because of the long-term exposure to toxic and pathogenic work environments, manual sorting has many risk factors, high labor costs, and low sorting efficiency. Research Article Manuscript received February 23, 2020; accepted May 19, 2020 Recommended by Associate Editor Qing-Long Han ©
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