A self-connection approach for flexible disassembly

This paper presents a self-connection (SC) approach to support the design of flexible disassembly tools. SC is a joining process between the tool and object, leading to a strong form closure to transmit forces and torques. It is shown that the SC can overcome some disadvantages of frictional contacts. The difference between self-connection and assembly connection is analyzed in detail. With SC integrated, the disassembly task is decomposed into three processes: 1) self-connection process; 2) task execution process, and 3) separating process. Consequently, the SC behaves like catalyst, which efficiently reduces the difficulty of the disassembly task. The proposed approach is being applied to the dismantling of loose connections. An example is given to show its effectiveness