Digital twin modelling and its evaluation method of the robotic disassembly process

Robotic disassembly helps to promote the automation and intelligence of recycling the end-of-life products. To provide comprehensive supports for the subsequent decision-making of disassembly process, digital twin is used to digitally describe the physical robotic disassembly process considering the inner characteristics of industrial robot. Meanwhile, the evaluation method could quantitatively evaluate the established digital twin model. In this paper, digital twin modelling and its evaluation method of the robotic disassembly process is proposed. First, the framework for digital twin modelling and its evaluation method of the robotic disassembly process is carried out. Afterwards, the enabling technologies are conducted to build the digital twin model and analyse its performance. Finally, based on UR5 robotic platform, case studies are carried out to verify the proposed method. The error analysis of digital twin model shows that the proposed modelling method has acceptable results in terms of geometric, physical, behaviour, rule models and virtual-real interaction methods. In addition, the proposed evaluation method could be utilized to quantitatively evaluate the established digital twin model.